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Revert "Fix random node and use yaml parameter" #26

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merged 1 commit into from
Nov 2, 2023
Merged

Revert "Fix random node and use yaml parameter" #26

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7 changes: 1 addition & 6 deletions main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -50,14 +50,9 @@ int main(int argc, char **argv)
// Planner config
auto planner_name = config["planner_name"].as<std::string>();
PlannerType planner = GetPlanner(planner_name);

// Visualizer config
auto rescale_factor = config["visualizer"]["rescale"].as<double>();
auto delay = config["visualizer"]["delay"].as<size_t>();

auto tree_visualizer = std::make_shared<tools::Visualizer>(
map, tools::pair_double{rescale_factor, rescale_factor}, delay,
"Tree Visualizer", planner_name);
map, tools::pair_double{2.0, 2.0}, 1u, "Tree Visualizer", planner_name);

// Path config
auto s = config["path"]["start"];
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1 change: 0 additions & 1 deletion planning/grid_base/dfs/dfs.cpp
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Expand Up @@ -81,7 +81,6 @@ Path DFS::FindPath(const Node &start_node, const Node &goal_node,

search_list.push(new_node_parent);
}
std::this_thread::sleep_for(std::chrono::microseconds(100));
}

if (search_list.empty())
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20 changes: 12 additions & 8 deletions planning/tree_base/src/common_tree_base.cpp
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Expand Up @@ -32,11 +32,19 @@ std::pair<double, double> RandomSampling()

Node RandomNode(const std::shared_ptr<Map> map)
{
bool is_valid{false};
Node random_node;
auto random_point{RandomSampling()};
random_node = Node(static_cast<int>(random_point.first * map->GetHeight()),
static_cast<int>(random_point.second * map->GetWidth()));

while (!is_valid)
{
auto random_point{RandomSampling()};
random_node =
Node(static_cast<int>(random_point.first * map->GetHeight()),
static_cast<int>(random_point.second * map->GetWidth()));
if (map->GetNodeState(random_node) == NodeState::kFree)
{
is_valid = true;
}
}
return random_node;
}

Expand Down Expand Up @@ -187,10 +195,6 @@ WireNewNode(const int max_branch_length, const int min_branch_length,
{
return std::make_shared<NodeParent>(new_node, nearest_node, Cost{});
}
if (index == 0)
{
return std::nullptr_t();
}
auto isLengthValid{EuclideanDistance(ray[index - 1], nearest_node->node) >
min_branch_length};
auto isNodeValid{map->GetNodeState(ray[index]) != NodeState::kOccupied &&
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