#include?
#include?“../include/RRT.hpp“
#include?“../include/Random_sampling.hpp“

using?namespace?std;
using?namespace?rrt;

bool?check（Utils::Point?cur）
{
	if（abs（cur.x）<2000?&&?abs（cur.y）<2000）
		return?true;
	return?false;
}

int?main（）
{
	srand（time（NULL））;
	Utils::Point?startfinishorigin;
	start.x=-10;
	start.y=10;
	finish.x=1000;
	finish.y=730;
	origin.x=0;
	origin.y=0;

	RRT?test;
/*	test.setEndPoints（startfinish）;
	test.setCheckPointFunction（*（check））;
	test.setStepLength（200）;
	test.setHalfDimensions（3000.02000.0）;
	test.setBiasParameter（100）;
	test.setOrigin（origin）;
	test.setMaxIterations（10000）;
	test.plan（）;
	cout<<“#################################################“<	deque?>?path=test.getPointsOnPath（）;
	for（int?i=0;i

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件??????12181??2019-05-28?10:42??RRT_Connect\.cproject

?????文件????????839??2019-05-28?10:42??RRT_Connect\.project

?????文件???????2172??2019-05-28?10:42??RRT_Connect\.settings\language.settings.xml

?????文件???????1427??2019-05-28?10:43??RRT_Connect\.settings\org.eclipse.cdt.managedbuilder.core.prefs

?????文件?????284543??2019-06-03?11:04??RRT_Connect\Debug\src\main_connect.o

?????文件?????155018??2019-06-03?10:58??RRT_Connect\Debug\src\Random_sampling.o

?????文件?????155258??2019-06-03?10:58??RRT_Connect\Debug\src\RRT.o

?????文件????????523??2019-06-03?10:56??RRT_Connect\include\Random_sampling.hpp

?????文件???????2093??2019-06-03?10:57??RRT_Connect\include\RRT.hpp

?????文件????????726??2019-05-28?10:43??RRT_Connect\include\utils.hpp

?????文件????????915??2019-06-03?11:04??RRT_Connect\src\main_connect.cpp

?????文件????????341??2019-05-28?10:43??RRT_Connect\src\Random_sampling.cpp

?????文件???????7576??2019-06-03?10:55??RRT_Connect\src\RRT.cpp

?????目錄??????????0??2019-06-03?11:04??RRT_Connect\Debug\src

?????目錄??????????0??2019-05-28?10:43??RRT_Connect\.settings

?????目錄??????????0??2019-06-03?11:04??RRT_Connect\Debug

?????目錄??????????0??2019-06-03?10:51??RRT_Connect\include

?????目錄??????????0??2019-06-03?10:51??RRT_Connect\src

?????目錄??????????0??2019-06-03?10:58??RRT_Connect

-----------?---------??----------?-----??----

???????????????623612????????????????????19