while((distance_to_target > branch_length) || hasObstacle(target, Xnew) || count < 2000)

{
// Code to generate new random node
// ...

// Check if new node is closer to target than current node
if (distance_to_new < distance_to_target) {
// Check if path from current node to new node is obstacle-free
if (!hasObstacle(Xnearest, Xnew)) {
// Update target node and branch length
target = Xnew;
branch_length = distance_to_new;
}
}

// Increment iteration count
count++;
}

// Code to return path from start to target node
// ...

相关问题

开发线性插值程序 # 在这个文件中完成Interp类的定义 class Interp: def __init__(self, x, y): self.x = x self.y = y def predict(self, xnew): # 对于一个xnew，返回插值结果 return 111 def predict_lst(self, xnew_lst): # 返回一个列表, 每个元素都是xnew_lst元素的插值结果 return [111, 111]

好的，我可以帮你完成这个任务。下面是一个简单的线性插值程序的实现。

class Interp:
    def __init__(self, x, y):
        self.x = x
        self.y = y

    def predict(self, xnew):
        # 对于一个xnew，返回插值结果
        if xnew <= self.x[0]:
            return self.y[0]
        elif xnew >= self.x[-1]:
            return self.y[-1]
        else:
            for i in range(len(self.x) - 1):
                if xnew >= self.x[i] and xnew <= self.x[i + 1]:
                    x1, y1 = self.x[i], self.y[i]
                    x2, y2 = self.x[i + 1], self.y[i + 1]
                    return y1 + (y2 - y1) * (xnew - x1) / (x2 - x1)

    def predict_lst(self, xnew_lst):
        # 返回一个列表, 每个元素都是xnew_lst元素的插值结果
        return [self.predict(xnew) for xnew in xnew_lst]

在这个实现中，我们首先在构造函数中存储了x和y的值。在predict方法中，我们对xnew进行线性插值计算，并返回结果。对于predict_lst方法，我们对xnew_lst中的每个元素调用predict方法，并将插值结果存储在列表中返回。

if(~hasObstacle([floor(Xnear(1)),floor(Xnear(2))], [floor(Xnew(1)),floor(Xnew(2))])) current_no_of_nodes = size(Tree,2);

This code snippet is checking if there is no obstacle between two nodes in a tree. If there is no obstacle, then it updates the current number of nodes in the tree.

The inputs to the function `hasObstacle` are the coordinates of two points: `[floor(Xnear(1)),floor(Xnear(2))]` and `[floor(Xnew(1)),floor(Xnew(2))]`. The `floor` function is used to round off the coordinates to the nearest integer values. The `~` symbol in front of the function call is a logical NOT operator, which means it will return true if there is no obstacle between the two points.

If the `hasObstacle` function returns false (i.e., there is no obstacle), then the size of the `Tree` matrix (which stores the nodes in the tree) is updated to `current_no_of_nodes`. This means that a new node has been added to the tree.