matlab rrt2D/3D

Matlab代码RRT2D/3D 实现，适用于初学者对RRT2D/3D实现原理的初步学习

%Author : Adnan Munawar
%Email  : amunawar@wpi.edu ; adnan.munawar@live.com
%MS Robotics Worcester Polytechnic Institute

function benchmarkRRT

clc;
close all;
clear all;


num_of_runs =1;
run_RRTconnect =0;
run_RRTextend = 0;
run_LazyRRT = 0;
run_RRTstar = 1;

dim = 3;
stepsize = [10];

random_world = 0;
radius = 10;
samples = 4000;

show_output = 1;
show_benchmark_results = 0;


%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

 属性            大小     日期    时间   名称
----------- ---------  ---------- -----  ----
     目录           0  2014-04-13 05:54  matlab-rrt-variants-master\
     文件        6148  2014-04-13 05:54  matlab-rrt-variants-master\.DS_Store
     文件       16392  2014-04-13 05:54  matlab-rrt-variants-master\LazyRRT3D.m
     文件        1014  2014-04-13 05:54  matlab-rrt-variants-master\README.md
     文件       16264  2014-04-13 05:54  matlab-rrt-variants-master\RRTconnect3D.m
     文件       15696  2014-04-13 05:54  matlab-rrt-variants-master\RRTextend3D.m
     文件       17379  2014-04-13 05:54  matlab-rrt-variants-master\RRTstar3D.m
     文件        8153  2014-04-13 05:54  matlab-rrt-variants-master\benchmarkRRT.m