Add a bidirectional RRT and path smoothing for joint-space planning - #899
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iory wants to merge 1 commit into
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Add a bidirectional RRT and path smoothing for joint-space planning#899iory wants to merge 1 commit into
iory wants to merge 1 commit into
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A collision-aware planner needs a search that only asks "is this configuration valid", so it can be driven by whatever collision model the caller has. This is that search: bidirectional RRT-connect with goal and straight-line sampling biases, plus shortcutting and resampling to tidy what it finds. The path is checked at the given resolution and is only trustworthy to that spacing, which the docstring now states, since a violation narrower than one check can pass between two check points.
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A joint-space search that only asks
is_valid(q), so it can be driven by whatever collision model the caller already has. Bidirectional RRT-connect with goal and straight-line sampling biases, plusshortcutandresampleto tidy the result.No dependencies beyond numpy, and nothing else in the tree imports it yet — this is the first layer of a collision-aware planner that will build on it.
The returned path is checked at the given
resolutionand is trustworthy only to that spacing; the docstring now says so, since a violation narrower than one check can pass between two check points.