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motion-planning / rrt-algorithms

n-dimensional RRT, RRT* (RRT-Star)
MIT License
600 stars 173 forks source link

Unpredictable Obstacles #26

Closed jackson2213 closed 4 years ago

jackson2213 commented 4 years ago

Hi , i want to add triangle Obstacles, not rectangle , i don't know how to change the code. I look forward to hearing from you. Thakns!

SZanlongo commented 4 years ago

Hi @jackson2213; this project uses the rtree library to maintain a spatial index. I believe this is restricted to objects with rectangular shapes, so a triangle would not be possible.

A workaround might be to approximate the triangle using multiple smaller rectangles, which could then be inserted into the obstacle region and used as a proxy.