Node extracted twice

[jpoikela]

I think you have a bug here:

rt-rrt/rt.py

Line 299 in 8f40302

qr.insert(0, x_closest[NODE])

x_closest is already the node of the result

[ptsneves]

I cannot understand this part. I looked at the paper and this seems to be correct. Can you elaborate, or tell me how can I verify this duplication?

[jpoikela]

what I mean is that you already have:
x_closest = result[NODE]
then you take
x_closest[NODE]
in the suspicious line which does not seem correct (but may still be)..

[ptsneves]

Will take a loot at it. Also I think this algorithm is quite crappy for real life world discovery. I will try to contact the authors of the paper to see what they think.

[jpoikela]

I wrote a function that draws the routing tree onto the map (with some small changes).. the routing tree on map looks different from the ones shown in the demo videos.. I could push it to github in the evening and make a pull request, I think it gives insight into how the algorithm works.. also there could be space for some speedups here and there..

…

On Fri, Feb 23, 2018 at 2:08 PM, Paulo Neves ***@***.***> wrote: Will take a loot at it. Also I think this algorithm is quite crappy for real life world discovery. I will try to contact the authors of the paper to see what they think. — You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub <#1 (comment)>, or mute the thread <https://github.com/notifications/unsubscribe-auth/AAF5cuEMzRSgK2ZS35ZHGkP_skD8rhZwks5tXqongaJpZM4Ru6lR> .

[ptsneves]

Sure. I think that a review by the authors, plus better presentation can be beneficial for both of us.

Regarding the ellipse sampling, basically once you find a route to the goal you take the path distance as a parameter for the ellipse for convergent sampling.
I was honestly quite disappointed with this step as I was thinking of the ellipse sampling as some mathematical heuristic that could help us get to the goal faster, but it seems it is some form of ad-hoc optimization heuristic.

In the mean time I modified my code to provide the shortest path given the known nodes, basically short-circuiting the graph-tree when there is no obstacle. I am curious if I am not doing some La-palice here :D

[jpoikela]

I agree that the authors would be best guides.
shortest routes, nice!