sim_bidirectional_rrt.ipynb

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 "cells": [
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# Bidirectional Sampling-Based Motion Planning"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "# The autoreload extension will automatically load in new code as you edit files, \n",
    "# so you don't need to restart the kernel every time\n",
    "%load_ext autoreload\n",
    "%autoreload 2\n",
    "\n",
    "import numpy as np\n",
    "import matplotlib.pyplot as plt\n",
    "from P2_rrt import *\n",
    "from P4_bidirectional_rrt import *\n",
    "\n",
    "plt.rcParams['figure.figsize'] = [7, 7] # Change default figure size"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### Set up workspace"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "MAZE = np.array([\n",
    "    (( 5, 5), (-5, 5)),\n",
    "    ((-5, 5), (-5,-5)),\n",
    "    ((-5,-5), ( 5,-5)),\n",
    "    (( 5,-5), ( 5, 5)),\n",
    "    ((-5, 2), (-1, 2)),\n",
    "    ((-1, 2), (-1,-1)),\n",
    "    (( 0, 2), ( 0,-1)),\n",
    "    (( 0, 2), ( 5, 2))\n",
    "])"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Normal RRT\n",
    "\n",
    "On this \"bugtrap\" problem, normal RRT often will fail to find a find a path.\n",
    "\n",
    "### Geometric planning"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "grrt = GeometricRRT([-5,-5], [5,5], [-4,-4], [4,4], MAZE)\n",
    "grrt.solve(1.0, 2000)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### Dubins car planning"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "drrt = DubinsRRT([-5,-5,0], [5,5,2*np.pi], [-4,-4,0], [4,4,np.pi/2], MAZE, .5)\n",
    "drrt.solve(1.0, 1000)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## RRTConnect\n",
    "### Geometric planning"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "grrt = GeometricRRTConnect([-5,-5], [5,5], [-4,-4], [4,4], MAZE)\n",
    "grrt.solve(1.0, 2000)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### Dubins car planning"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "drrt = DubinsRRTConnect([-5,-5,0], [5,5,2*np.pi], [-4,-4,0], [4,4,np.pi/2], MAZE, .5)\n",
    "drrt.solve(1.0, 1000)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  }
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