# Rapidly-Exploring random trees path planning algorithm ## Overview Randomized data structure that is designed for a broad class of path planning problems. Visualizer: [rtt-demo](https://github.com/swizard0/rtt-demo) ![rtt visualizer](https://github.com/swizard0/rtt-demo/blob/master/images/screenshot_00.png "RTT visualizer") Theory: - - - - ## Library `rtt` is a Rust crate with a very abstract algorithm implementation. Everything outside of raw algorithm (sampling, memory management, nearest node search etc) is left to library user. Several useful data structures and helpers are available in `rtt::util` module for your convenience, such as: - [rtt::util::rtt::vec_slist](src/util/rtt/vec_slist.rs): single-linked tree implemented over `Vec` - [rtt::util::no_err](src/util/mod.rs): simple wrapper for `Result` type ## Example usage Try the [example](examples/rect_maze.rs) yourself: ``` % cargo run --example rect_maze Maze of 15 rows and 24 cols, start: (1, 3), finish: (8, 2) Path planned in 2707 iterations: ############### # ++ # ++++########## # + # + +++++ # # + # + ###+ ##### # +++# + # + # # +++++ # + # # # # + # ############### + # #++ # +++++ # #+ # +++########## #+++ # + # # + #++++ # # + #+ # # ++++++ # ############### ```