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RRT* #58

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@jens-hj jens-hj commented May 6, 2024

Splits the crate into two modules; rrt and rrtstar. The rrt module is the same as always, where the rrtstar module is very similar, however, it implements the RRT* algorithm with node weights and tree rewiring upon every node insertion.

jens-hj added 28 commits April 30, 2024 13:34
@jens-hj
feat(nix): flake
1ff930a
@jens-hj
feat(rrtstar): rrt* attempt
80e1f53
@jens-hj
fix(rrtstar): only rewire parent if node has a parent
40e2e01
@jens-hj
chore(rrtstar): debug prints
90aea9f
@jens-hj
chore(rrtstar): debug prints
a21b79c
@jens-hj
chore(rrtstar): debug prints
978a61d
@jens-hj
chore(rrtstar): debug prints
fd58e00
@jens-hj
chore(rrtstar): more printing
b45cbdd
@jens-hj
chore(rrtstar): more printing
ad9fb27
@jens-hj
wip, squash me
5a3b7e9
@jens-hj
chore(flake): added flake.lock
faa6004
@jens-hj
refactor(rrtstar): divided rrt and rrtstar into each their own module
28b24e6
@jens-hj
chore(debug): public everything
db19937
@jens-hj
wip
80087f6
@jens-hj
wip
f5df4a1
@jens-hj
wip
fa15447
@jens-hj
wip
164449b
@jens-hj
fix(rrtstar): comparing nearest neighbours with nearest found earlier…
272d569 
…, instead of the new node. And adds the length from the each node in the neighbourhood to the new node in the cost comparison
@jens-hj
feat(rrtstar): stop when goal reached flag to force whole tree build
f60749c
@jens-hj
wip
294a7eb
@jens-hj
fix(rrtstar): still adds the goal position as the last part if it get…
d9eef7c 
…s close enough
@jens-hj
feat(rrtstar): configurable neighbourhood radius
9456249
@jens-hj
feat(goal): goal index stored on tree
fc19afa
@jens-hj
wip, squash me
e145ce1
@jens-hj
feat(rrtstar): Fn -> FnMut
9847735
@jens-hj
feat(rrtstar): Fn -> FnMut
f4e9975
@jens-hj
fix(rrtstar): returns Error on max iters
d4384c7
@jens-hj
feat(rrtstar): rng passable to rrtstar smoothing
ad5911f
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