fix LQR rrt star

abshk-jr · Jul 27, 2019 · 8061e73 · 8061e73
1 parent 0937486
commit 8061e73
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Showing 4 changed files with 138 additions and 220 deletions.
diff --git a/PathPlanning/LQRPlanner/LQRplanner.py b/PathPlanning/LQRPlanner/LQRplanner.py
@@ -6,19 +6,20 @@
 
 """
 
+import math
+import random
+
 import matplotlib.pyplot as plt
 import numpy as np
 import scipy.linalg as la
-import math
-import random
 
-show_animation = True
+SHOW_ANIMATION = True
 
 MAX_TIME = 100.0  # Maximum simulation time
 DT = 0.1  # Time tick
 
 
-def LQRplanning(sx, sy, gx, gy):
+def LQRplanning(sx, sy, gx, gy, show_animation=SHOW_ANIMATION):
 
     rx, ry = [sx], [sy]
 
@@ -129,7 +130,7 @@ def main():
 
         rx, ry = LQRplanning(sx, sy, gx, gy)
 
-        if show_animation:  # pragma: no cover
+        if SHOW_ANIMATION:  # pragma: no cover
             plt.plot(sx, sy, "or")
             plt.plot(gx, gy, "ob")
             plt.plot(rx, ry, "-r")