Warning: support for box_world
and dubins_car
has been temporarily dropped and it will NOT run out of the box!
The repository requires PyDrake with Gurobi
, closest_polytope_algorithms
, and polytope_symbolic_system
to run.
After installing PyDrake with Gurobi
, clone closest_polytope_algorithms
and polytope_symbolic_system
to the same directory level as r3t
.
All examples are located in the respective /test
folders of each problem setup.
Please refer to the DC_RGRRTStar.__init__
for what information is required to setup the problem. In addition, rg_rrt_star/dubin_car/tests/test_dubin_car.py
contains usage examples. Notice that DC_Map
is NOT required--the planner works for other map representations.
Please refer to the function build_tree_to_goal_state
and examples in /test
folders for how to solve for the path after setting up the problem.