diff --git a/README.md b/README.md index 9be86b1..f261921 100644 --- 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 ```  + +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 +``` + diff --git a/examples/rrt_sample.png b/examples/rrt_sample.png index 08b3c44..2ee2c12 100644 Binary files a/examples/rrt_sample.png and b/examples/rrt_sample.png differ diff --git a/examples/rrt_star_optimal_sample.png b/examples/rrt_star_optimal_sample.png new file mode 100644 index 0000000..b7b461f Binary files /dev/null and b/examples/rrt_star_optimal_sample.png differ diff --git a/examples/rrt_star_sample.png b/examples/rrt_star_sample.png index 4105d6e..6c94402 100644 Binary files a/examples/rrt_star_sample.png and b/examples/rrt_star_sample.png differ