RRT (Rapidly-exploring Random Tree) library in Rust.
Only Dual RRT Connect is supported.
There is an example to solve collision avoid problem.
bash
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.
rust
use rand::distributions::{Distribution, Uniform};
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 = Uniform::new(-2.0, 2.0);
let mut rng = rand::thread_rng();
vec![between.sample(&mut rng), between.sample(&mut rng)]
},
0.2,
1000,
)
.unwrap();
println!("{result:?}");
assert!(result.len() >= 4);