PathPlanning - Common used path planning algorithms with animations.

I tried to change the search space dimensions and obstacles but it is not being implemented when i execute the code. The same search space and obstacles set by you appears instead. Please help as I need to test the algorithms to suit them to my need.

![road](https://user-images.githubusercontent.com/42332058/157599499-7cd79207-4150-4f6c-991e-4600a74487d hello,when i use a star,change the goal point,but it can't get the result,can u give me some sdvice ,i will be appreciated

if np.random.random() > goal_sample_rate: return Node((np.random.uniform(self.x_range[0] + delta, self.x_range[1] - delta), np.random.uniform(self.y_range[0] + delta, self.y_range[1] - delta)))

    return self.s_goal

why np.random.random() > goal_sample_rate:？？？and if not why return self.s_goal？？？

fixed a error in line 57 ’if node_new_prim and not self.utils.is_collision(node_new_prim, node_new_prim) ‘ has changed to be ’if node_new_prim and not self.utils.is_collision(node_new_prim, node_near_prim):‘

Hello, such a nice repository benefits me a lot and so kind of you to make it open source!

Question There’s some possible legal issues on the license of your repository when you combine numerous third-party packages. For instance, matplotlib, scipy, numpy and random you imported are licensed with Python Software Foundation License (PSF), BSD License, BSD License and Python Software Foundation License, respectively. However, the MIT license of your repository are less strict than above package licenses, which has violated the whole license compatibility in your repository and may bring legal and financial risks.

Advice You can select another proper license for your repository, or write a custom license with license exception if some license terms couldn’t be summed up consistently.

Best wishes!

Hi zhm-real: In astart, you build a priority queue.However, it will have repetition point when update the f value of a point. I would like to know that how to avoid this situation or something i miss that you have already avioded this situation.`

rrt_star.py : this part of code

def find_near_neighbor(self, node_new):
        n = len(self.vertex) + 1
        r = min(self.search_radius * math.sqrt((math.log(n) / n)), self.step_len)
        dist_table = [math.hypot(nd.x - node_new.x, nd.y - node_new.y) for nd in self.vertex]
        dist_table_index = [ind for ind in range(len(dist_table)) if dist_table[ind] <= r and
                            not self.utils.is_collision(node_new, self.vertex[ind])]
        return dist_table_index

r is the search radius to search for potential best parent nodes，but I don‘t think it should use min() function. I guess the function of the code about r is that as the vertex increases, the radius of the search for the parent node also increases. But it should use max() function. Maybe there is something I misunderstood, but using max() works better works more in principle..

using min(): using max():

Is it my understanding of your code is wrong, I hope to get your help.

Hi, When I run the rrt3D.py, it occured a mistake: Original exception was: Traceback (most recent call last): File "/home/xia/mydemo01_ws/src/PathPlanning-master/Sampling_based_Planning/rrt_3D/utils3D.py", line 410, in <module> A.run() File "/home/xia/mydemo01_ws/src/PathPlanning-master/Sampling_based_Planning/rrt_3D/utils3D.py", line 403, in run visualization(self) File "/home/xia/mydemo01_ws/src/PathPlanning-master/Sampling_based_Planning/rrt_3D/../../Sampling_based_Planning/rrt_3D/plot_util3D.py", line 96, in visualization for i in initparams.Parent: AttributeError: 'rrt_demo' object has no attribute 'Parent' What should I do next?

I downloaded the entire zip and unzipped it in PyCharm. When I tried bfs for testing, everything went well until plot.animation(path,visited,"Breadth-first Search (BFS)")

Then I created a breakpoint and found the statement that stops the program. It is plt.plot(self.xI[0], self.xI[1], "bs") in def plot_grid(self, name) :In Search_based_Planning/Search_2D/plotting.py.

There may be something I didn't realize, but can you give a solution or some help? thanks : )

my environment is as follows:

1. Python 3.8.12 with acaconda
2. matplotlib 3.4.3
3. numpy 1.18.5

By the way, queue.py is best renamed to something like diy_queue.py, and queue.py will cause problems AttributeError: module'queue' has no attribute'queue'