Trees | Indices | Help |
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Implements a simple RRT, which assumes a state is (x,y,orientation), and the distance between two states is euclidean, after normalizing their attributes to a similar scale.
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Initialize the tree. Keyword arguments: initialShipState -- initial ShipExternalState that would be the root of the tree distanceUnit -- angleUnit -- Both are used for normalization of x, y and angle to the same scale, to determine similarity (or distance) between two points (x1, y1, ang1) and (x2, y2, ang2). These could be, for instance, the amount of distance / orientation a ship can travel in a given time unit. |
Adds a new node to the tree.
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Returns a path (a sequence of actions) from root to currentState.
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Find closest node in the RRT w.r.t. x, y, orientation. Distance is euclidean, where x, y and orientation are normalized. Keyword arguments: newState -- ShipExternalState that is going to be part of the new tree node. Returns: RRTNode which is the noded closest to 'newState' in the current RRT
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Trees | Indices | Help |
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