Comments (4)
Hi @kctoayo88. The best way to ensure you understand how that works is probably by following along with one if the examples.
Q
is a list of tuples q
indicating that q[0] edges of length q[1] should be added. This choice was made to allow for easily trying different amounts of different-length edges. For example, if we set Q = [[4, 1], [2, 8]]
, this would attempt to grow 4 edges of length 1, and 2 edges of length 8.
Starting with the rrt_2d.py
example, we set the length of new edges in Q = np.array([(8, 4)])
, corresponding to trying to grow 8 edges of length 4 on each iteration. Next, the search is done in rrt.py
, where you can see the looping over different edge combinations within Q
. For each of the tuples, it calls new_and_near
, with an edge length from the tuple.
Hope this helps.
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Hello @SZanlongo,
Thanks for your reply, it's really helpful to me.
I could understand and handle it now.
Unfortunately, I got another problem when I run the rrt_star_bid_2d.py
program.
I always defined the obstacles, init and goal position by myself in this program.
However, the program got some error in some specific cases.
I guessed that the reason of error occurring is related to obstacles and init, goal setting.
Hope you could help me solve this.
from rrt-algorithms.
Seems like you hit an edge case. I've pushed what should be a fix to develop. Let me know if that works.
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Thank you for your helps.
The change solve the problem perfectly and work like a charm.
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Related Issues (20)
- Preserve work when modifying obstacles
- Allow for multiple trees HOT 2
- Bias Sampling towards Goal
- Conditional Neighbors
- in the rrt_start.py there two comments confused me HOT 1
- Rewire never occurs due to inaccurate nearby vertices cost calculation. HOT 5
- Forgotten c_best update in lazy_shortening of rrt_star_bid_h HOT 1
- Help with this errror HOT 5
- Seems hava bug in method lazy_shortening of class RRTStarBidirectionalHeuristic HOT 2
- OSError: libspatialindex_c.so.5: cannot open shared object file HOT 2
- Unpredictable Obstacles HOT 1
- Safety Distance From Obstacle HOT 2
- Setting Edge Lengths as Float Type HOT 1
- How can I find your paper here? HOT 1
- unable to connect to the goal HOT 2
- step size in rrt-connect HOT 2
- The choice of heuristic function in RRT Star HOT 1
- Which article are ideas of RRT* using R-tree from? HOT 1
- Multithread where possible
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