https://github.com/openrr/rrt

RRT (Rapidly-exploring Random Tree) library in Rust
https://github.com/openrr/rrt

algorithm pathfinding pathplan robotics rrt rust search

Last synced: 4 days ago
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RRT (Rapidly-exploring Random Tree) library in Rust

• Host: GitHub
• URL: https://github.com/openrr/rrt
• Owner: openrr
• License: apache-2.0
• Created: 2017-07-25T04:55:59.000Z (over 7 years ago)
• Default Branch: main
• Last Pushed: 2024-12-26T02:48:52.000Z (29 days ago)
• Last Synced: 2025-01-12T16:05:35.327Z (11 days ago)
• Topics: algorithm, pathfinding, pathplan, robotics, rrt, rust, search
• Language: Rust
• Homepage:
• Size: 49.8 KB
• Stars: 35
• Watchers: 5
• Forks: 7
• Open Issues: 2
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

Awesome Lists containing this project

• awesome-rust-list - rrt - exploring Random Tree) library in Rust. (Path Planning)
• awesome-rust-list - rrt - exploring Random Tree) library in Rust. (Path Planning)

README

        
# rrt

[![Build Status](https://img.shields.io/github/actions/workflow/status/openrr/rrt/ci.yml?branch=main&logo=github)](https://github.com/openrr/rrt/actions) [![crates.io](https://img.shields.io/crates/v/rrt.svg?logo=rust)](https://crates.io/crates/rrt) [![docs](https://docs.rs/rrt/badge.svg)](https://docs.rs/rrt) [![discord](https://dcbadge.vercel.app/api/server/8DAFFKc88B?style=flat)](https://discord.gg/8DAFFKc88B)

RRT (Rapidly-exploring Random Tree) library in Rust.

Only Dual RRT Connect is supported.

## Examples

There is [an example](https://github.com/openrr/rrt/blob/main/examples/collision_avoid.rs) to solve collision avoid problem.

```bash

cargo run --release --example collision_avoid

```

Below is the simplest example.

It search the path from [-1.2, 0.0] to [1.2, 0.0] avoiding [-1, -1] - [1, 1] region.

There are only one function `dual_rrt_connect`, which takes `start`, `goal`,

`is free function`, `random generation function`, `unit length of extend`, `max repeat num`.

```rust

use rand::distributions::{Distribution, Uniform};

let result = rrt::dual_rrt_connect(

    &[-1.2, 0.0],

    &[1.2, 0.0],

    |p: &[f64]| !(p[0].abs() < 1.0 && p[1].abs() < 1.0),

    || {

        let between = Uniform::new(-2.0, 2.0);

        let mut rng = rand::thread_rng();

        vec![between.sample(&mut rng), between.sample(&mut rng)]

    },

    0.2,

    1000,

)

.unwrap();

println!("{result:?}");

assert!(result.len() >= 4);

```

## `OpenRR` Community

[Here](https://discord.gg/8DAFFKc88B) is a discord server for `OpenRR` users and developers.