Minor changes added

Author: AngeloEspinoza

RRT.py

@@ -12,9 +12,9 @@
 	help='Maximum number of nodes')
 parser.add_argument('-e', '--epsilon', type=float, metavar='', required=False, help='Step size')
 parser.add_argument('-init', '--x_init', nargs='+', type=int, metavar='', required=False,
-	help='Initial node position in X and Y respectively')
+	help='Initial node position in X and Y, respectively')
 parser.add_argument('-goal', '--x_goal', nargs='+', type=int, metavar='', required=False,
-	help='Goal node position in X and Y respectively')
+	help='Goal node position in X and Y, respectively')
 parser.add_argument('-srn', '--show_random_nodes', type=bool, action=argparse.BooleanOptionalAction,
 	metavar='', required=False, help='Show random nodes on screen')
 parser.add_argument('-snn', '--show_new_nodes', type=bool, action=argparse.BooleanOptionalAction,
@@ -27,6 +27,9 @@
 	metavar='', required=False, help='Shows the movements of the robot from the start to the end')
 args = parser.parse_args()
 
+# Initialization 
+pygame.init()
+
 # Constants
 MAP_DIMENSIONS = 640, 480
 
@@ -75,7 +78,7 @@ def main():
 
 		if not is_simulation_finished:
 			# Sample free space and check x_rand node collision
-			x_rand = graph_.generate_random_node(obstacles=obstacles) # Random node 
+			x_rand = graph_.generate_random_node() # Random node 
 			rand_collision_free = graph_.is_free(point=x_rand, obstacles=obstacles) 
 
 			if rand_collision_free:

__pycache__/environment.cpython-310.pyc

@@ -40,7 +40,7 @@ def __init__(self, start, goal, map_dimensions, epsilon):
 		self.FUCSIA = (255, 0, 255)
 
 	def is_free(self, point, obstacles):
-		"""Checks whether a node is colliding with an obstacle or not.
+		"""Checks if a node is colliding with an obstacle.
 
 		When dealing with obstacles it is necessary to check 
 		for the collision with them from the generated node.
@@ -62,7 +62,7 @@ def is_free(self, point, obstacles):
 
 		return True
 
-	def generate_random_node(self, obstacles):
+	def generate_random_node(self):
 		"""Generates a random node on the screen.
 
 		The x and y coordinate is generated given an uniform
@@ -79,7 +79,6 @@ def generate_random_node(self, obstacles):
 			Coordinates of the random node. 
 		"""
 		self.x_rand = random.uniform(0, self.WIDTH), random.uniform(0, self.HEIGHT)
-		# collision_free = self.is_free(point=self.x_rand, obstacles=obstacles)
 
 		return self.x_rand
 
@@ -278,8 +277,7 @@ def draw_path_to_goal(self, map_):
 
 	def move_robot(self, position, map_):
 		"""Draws the robot moving."""
-		pygame.draw.circle(surface=map_, color=(0, 0, 255),
-			center=position, radius=4)
+		pygame.draw.circle(surface=map_, color=(0, 0, 255),	center=position, radius=4)
 
 	def draw_tree(self, nears, news, map_):
 		"""Draws the tree constantly. Used to display it in an infinite loop."""
@@ -303,5 +301,5 @@ def draw_trajectory(self, nears, news, environment_):
 
 			# Refresh the screen
 			pygame.display.update()
-			pygame.time.delay(50) # Wait 0.1 seconds 
+			pygame.time.delay(20) # Wait 0.1 seconds 
 			environment_.map.fill(self.WHITE)