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RunMe.m
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RunMe.m
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%% Author: Chahat Deep Singh
% RRT Implementation:
% March 27 2017
% University of Maryland College Park
% -----------------------------------
%
% Instructions:
% 1. Run the file RunMe.m in Matlab (R2010b+)
% 2. Make sure the files:
% a. create_map (Not required for the RunMe file)
% b. draw
% c. edge_fn
% d. find_new_node
% e. goal_edge
% f. map.mat
% g. nearest
% h. RRT
% are in the same folder.
%
% 3. If there is no map.mat, run create_map file to generate
% the map with obstacles. (it will generate map.mat)
% 4. To update the map, run create_map.m and then Run RunMe.m for RRT.
%% Input Arguments: (All in [x,y])
% Start Node: start_node
% End Goal: goal
% r_goal: Radius of the End Goal region
% Epsilon: Minimum Step size for the RRT
% Code begins here:----------------------------------------------------
clc; clear all;
% Load the map:
map = load('map.mat');
% Problem Statement:
problem_no = 1;
% Starting pt; End pt; Radius of the goal region; Step Size;
[start_node, end_node, r_goal, epsilon] = problem(problem_no);
% Edges and vertices of the map:
[edge, vertice] = RRT(map.obstacle_grid, start_node, end_node, ...
epsilon, r_goal);