3582523143

solution.py    x I

■ ca    ae11 .uij r.

point re self.ax.add plt.pause(<

print("achieved

def get_bi_rrt(self pathl [] path2 [j pathl.append((s path2.append((g expanded _pointl expanded_point2 True:

random_poin nearest_poi expanded_pc tmpl self

{self. i

hw4 — python solution.py — 80x24

(343.28216771768365, 145.58604756496507), (387.5253743261443, 137.8107579323197 ), (432.614911613492, 138.78108966335833), (423.39230960555676, 182.846701362611 27), (429.25259399073195, 227.46348146746502), (385.7024583629254, 238.794222255 23604), (358.7657187676115, 274.8415808266244), (380.1773498491562, 314.42114694 89031), (381.70633914112665, 359.3961638082478), (426.5561964443795, 356.7222494 4270334), (445.1655906544931, 314.75042440240776), (480.94923044816585, 342.0365 2201853237), (518.202526993277, 367.2791822690291), (558.0670952826911, 346.4029 710443205), (567.484198164029, 391.39919567427205), (651.8617216387943, 436.0453 064588934), (541.7792676334739, 479.9035516393689), (536.795746715087, 524.62675 05327397), (548.7426339751673, 563.0119079577731), (507.2251256840951, 585.36980 2568029), (462.2302494707577, 584.6907484122731), (448, 642)]) achieved goal

^,'Z[13)    Terminated: 15    python solution.py

[14) +    Stoppcd    python    solution.py

Chunlins-Macbook-Pro:hw4 chunlinS python solution.py ^AZl14]    Terminated: 15    python solution.py

(15) +    Stopped    python    solution.py

Chunlins-Macbook-Pro:hw4 chunlinS python solution.py (15]+    Terminated:    15    python    solution.py

Terminated: 15

Chunlins-M3cbook-Pro:hw4 chunlinS python solution.py

:reen Shot    Ubuntu Linux

11...05.36 PM

Fali 2018

random_poin____ . ₃..................

nearest_point2    self.get_nearest_neighbor(path2, random_point2)

expanded_point2 se(/.get_expanded_point(nearest_point2, randoą_point2, tmp2 self.get_nearest_neighbor(path2, expanded_point2)

(self.point_circle_collison(tmp2, expanded_point2, distance)):

ftOOł-

duplicatel False seg    pathl:

seg[i]    expanded_pointl:

duplicatel True

break

duplicate2 False seg    path2:

seg[l]    expanded_point2:

duplicate2 True

break

duplicatel:

(self.pathPlanner(obstacles, nearest_pointl, expanded_pointl)): self.vertices.append(expanded_pointl) self.neighbors[expanded_pointl] [nearest_pointl) self.neighbors[nearest_pointl].append(expanded_pointl) pathl.appendt[nearest_pointl, expanded_pointl]) self.draw_graph(nearest_pointl, expanded_pointl, 1)

Une2 path2:

(self.reach_goal(expanded_pointl, line2[l], distance) self. neighbors Iexpanded_pointl] .appendtline2(.]) sel1.neighbors(line2[:]).append(expanded_point1) pathl.append([expanded_pointl,line2I1]])

.* Aa C= O O

□ Linę 168. Column 25

Find Prev Tab Size:«

part1.mov