# rrt

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RRT (Rapidly-exploring Random Tree) library in Rust.

Only Dual RRT Connect is supported.

## Examples

There is [an example](https://github.com/openrr/rrt/blob/main/examples/collision_avoid.rs) to solve collision avoid problem.

```bash
cargo run --release --example collision_avoid
```

Below is the simplest example.
It search the path from [-1.2, 0.0] to [1.2, 0.0] avoiding [-1, -1] - [1, 1] region.
There are only one function `dual_rrt_connect`, which takes `start`, `goal`,
`is free function`, `random generation function`, `unit length of extend`, `max repeat num`.

```rust
use rand::distributions::{Distribution, Uniform};
let result = rrt::dual_rrt_connect(
    &[-1.2, 0.0],
    &[1.2, 0.0],
    |p: &[f64]| !(p[0].abs() < 1.0 && p[1].abs() < 1.0),
    || {
        let between = Uniform::new(-2.0, 2.0);
        let mut rng = rand::thread_rng();
        vec![between.sample(&mut rng), between.sample(&mut rng)]
    },
    0.2,
    1000,
)
.unwrap();
println!("{result:?}");
assert!(result.len() >= 4);
```