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RoboJackets / rrt

C++ RRT (Rapidly-exploring Random Tree) Implementation
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randomBiasState #70

Open Jason27chan opened 7 years ago

Jason27chan commented 7 years ago

Fixes #64 Created a function randomBiasState that returns a point based on a goal state and goal bias using logit function

joshhting commented 7 years ago

Also, feel free to push this to a RoboJackets modify-random-pool branch so that people who pull your code don't have to add a new remote for your own fork

Jason27chan commented 7 years ago

Just to be clear, what we have currently is the following diagrams screenshot from 2017-03-05 19-21-59 screenshot from 2017-03-05 half goal bias screenshot from 2017-03-05 90 goal bias

This is the current problem case

problem case

joshhting commented 7 years ago

Is this still going to happen? Regardless of whether we implement this as the default feature or not, it'd be nice to have it as an option that we could set to compare performance. Otherwise this pull request should be closed.

jgkamat commented 7 years ago

I would definetly like to merge this (as a seperate option), so that we can use it when tuning things later (which we need to do for performance....)