Warning: support for box_world and dubins_car has been temporarily dropped and it will NOT run out of the box!

Usage

Dependencies

The repository requires PyDrake with Gurobi, closest_polytope_algorithms, and polytope_symbolic_system to run.

Installation

After installing PyDrake with Gurobi, clone closest_polytope_algorithms and polytope_symbolic_system to the same directory level as r3t.

Running an example

All examples are located in the respective /test folders of each problem setup.

Setting up a dubin_car problem

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.

Solving for the path to a goal

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.