risooonho/rrt

RRT (Rapidly-exploring Random Tree) library in Rust

rrt

RRT (Rapidly-exploring Random Tree) library in Rust

Using this crate

In your Cargo.tml, add below.

[dependencies]
rrt = "0.1.0"

Examples

There are an example to solve collision avoid problem.

cargo run --release --example collision_avoid

Below is the simplest example. It search the path from [-1.2, 0.0] to [1.2, 0.0] avoiding [-1, -1] - [1, 1] region. There are only one function dual_rrt_connect, which takes start, goal, is free function, random generation function, unit length of extend, max repeat num.

extern crate rand;
extern crate rrt;
fn main() {
  use rand::distributions::{IndependentSample, Range};
  let result = rrt::dual_rrt_connect(&[-1.2, 0.0],
                                     &[1.2, 0.0],
                                     |p: &[f64]| !(p[0].abs() < 1.0 && p[1].abs() < 1.0),
                                     || {
                                        let between = Range::new(-2.0, 2.0);
                                        let mut rng = rand::thread_rng();
                                        vec![between.ind_sample(&mut rng),
                                             between.ind_sample(&mut rng)]
                                     },
                                     0.2,
                                     1000)
              .unwrap();
  println!("{:?}", result);
  assert!(result.len() >= 4);
}