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Steve Lavalle's RRT code (stripped off pygame)
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| import sys, random, math | |
| from math import sqrt,cos,sin,atan2 | |
| #constants | |
| xdim = 640 | |
| ydim = 480 | |
| winsize = [xdim, ydim] | |
| epsilon = 10.0 | |
| num_nodes = 1000 | |
| goal = (300, 400) | |
| def dist(p1,p2): | |
| return sqrt((p1[0]-p2[0])*(p1[0]-p2[0])+(p1[1]-p2[1])*(p1[1]-p2[1])) | |
| def step_from_to(p1,p2): | |
| if dist(p1,p2) < epsilon: | |
| return p2 | |
| else: | |
| theta = atan2(p2[1]-p1[1],p2[0]-p1[0]) | |
| return p1[0] + epsilon*cos(theta), p1[1] + epsilon*sin(theta) | |
| def main(): | |
| nodes = [] | |
| n0 = ((xdim/2.0,ydim/2.0), 0) | |
| nodes.append(n0) # Start in the center | |
| goal_dist = 1000 | |
| i = 0 | |
| while goal_dist > epsilon: | |
| rand = random.random()*640.0, random.random()*480.0 | |
| nn = nodes[0][0] | |
| cc = nodes[0][1] | |
| for p,c in nodes: | |
| if dist(p,rand) < dist(nn,rand): | |
| nn = p | |
| cc = c | |
| new_x = step_from_to(nn,rand) | |
| new_c = epsilon + cc | |
| nodes.append((new_x, new_c)) | |
| goal_dist = dist(new_x, goal) | |
| i = i+1 | |
| print i, " ", (new_x, new_c) | |
| if __name__ == '__main__': | |
| main() |
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