add result

Jermmy · Apr 15, 2018 · 2714985 · 2714985
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diff --git a/.gitignore b/.gitignore
@@ -99,3 +99,4 @@ ENV/
 
 # mypy
 .mypy_cache/
+
diff --git a/.idea/misc.xml b/.idea/misc.xml
diff --git a/.idea/modules.xml b/.idea/modules.xml
diff --git a/.idea/rapidly_exploring_random_tree.iml b/.idea/rapidly_exploring_random_tree.iml
diff --git a/.idea/vcs.xml b/.idea/vcs.xml
diff --git a/.idea/workspace.xml b/.idea/workspace.xml
diff --git a/README.md b/README.md
@@ -1,6 +1,8 @@
 # rapidly_exploring_random_tree
 A simple implementation of Rapidly Exploring Random Tree using python3. Visualization is dependent on OpenCV3.
 
+![result](result.gif)
+
 ### Reference
 
 [Rapidly Exploring Random Tree (RRT) Path Planning](http://coecsl.ece.illinois.edu/ge423/spring13/RickRekoskeAvoid/rrt.html)
diff --git a/data/rrt_20.png b/data/rrt_20.png
diff --git a/data/rrt_30.png b/data/rrt_30.png
diff --git a/data/rrt_35.png b/data/rrt_35.png
diff --git a/data/rrt_smooth.png b/data/rrt_smooth.png
diff --git a/data/rrt_start.png b/data/rrt_start.png
diff --git a/data/rrt_unsmooth.png b/data/rrt_unsmooth.png
diff --git a/result.gif b/result.gif
diff --git a/src/rrt.py b/src/rrt.py
@@ -285,9 +285,9 @@ def obstacles_2(height, width):
     goal_threshold = 20
     max_iter, smooth_iter = 1000, 20
     param = Param(width, height, border_size, max_iter, goal_threshold, smooth_iter)
-    p_start = np.array([100, 100], dtype=np.int32)
+    p_start = np.array([20, 20], dtype=np.int32)
     p_goal = np.array([190, 190], dtype=np.int32)
-    obj_coord = obstacles_2(height, width)
+    obj_coord = obstacles_1(height, width)
     rob = Rob(p_start, 2)
     obst = []
     for coord in obj_coord: