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adding the missing output from extend_towards_q in euclidean tree example #75

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adding the missing output from extend_towards_q in euclidean tree example #75

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20 changes: 14 additions & 6 deletions examples/euclidean_tree/euclidean_tree.py
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Original file line number Diff line number Diff line change
Expand Up @@ -30,14 +30,22 @@ def compute_edge_cost(self, parent_node: Node, child_node: Node):
x_child = child_node.q
return np.linalg.norm(x_parent - x_child)

def extend_towards_q(self, node: Node, q: np.array):
if np.linalg.norm(q - node.q) < self.rrt_params.radius:
def extend_towards_q(self, parent_node: Node, q: np.array):
if np.linalg.norm(q - parent_node.q) < self.rrt_params.radius:
child_q = q
else:
child_q = node.q + self.rrt_params.radius * (
q - node.q
) / np.linalg.norm(q - node.q)
return Node(child_q)
child_q = parent_node.q + self.rrt_params.radius * (
q - parent_node.q
) / np.linalg.norm(q - parent_node.q)

child_node = Node(child_q)

edge = Edge()
edge.parent = parent_node
edge.child = child_node
edge.cost = self.compute_edge_cost(parent_node, child_node)

return child_node, edge

def calc_distance_batch(self, q_query: np.array):
q_batch = self.get_q_matrix_up_to()
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