Update README and examples

eholum · Mar 23, 2024 · c66dcd1 · c66dcd1
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diff --git a/README.md b/README.md
@@ -9,7 +9,7 @@ Currently has rough cut versions of both `RRT` and `RRT*`, as well as a basic Ha
 Includes [an example](examples/world_example.rs) using a planar world with geometric obstacles built with the [Geo](https://crates.io/crates/geo) crate.
 The library will attempt to find a path using either RRT or RRT* and plot the result using [Plotly](https://crates.io/crates/plotly).
 
-To run regular RRT,
+To run regular RRT and return as soon as a path is found:
 ```
 cargo run --example world_example -- 1.0 1.0 99.0 99.0 false
 ```
@@ -20,3 +20,10 @@ To run RRT*,
 cargo run --example world_example -- 1.0 1.0 99.0 99.0 true
 ```
 ![alt text](examples/rrt_star_sample.png)
+
+Or you can optionally specify a timeout to continue sampling to converge towards the optimal path,
+
+```
+cargo run --example world_example -- 1.0 1.0 99.0 99.0 true 10.0
+```
+![alt text](examples/rrt_star_optimal_sample.png)
diff --git a/examples/rrt_sample.png b/examples/rrt_sample.png
diff --git a/examples/rrt_star_optimal_sample.png b/examples/rrt_star_optimal_sample.png
diff --git a/examples/rrt_star_sample.png b/examples/rrt_star_sample.png