主程序#include "headers//RRT.h"using namespace std;const double ANGLE = 60.0;const double STEP = 10.0;const double DISTANCE = 5.0;int main() {double obstacle_x[]= {50, 50, 50};double obstacle_y[]= {50, 13, 87};double obstacle_r[]= {15, 12, 11};auto * obstacle = new ListObstacle(50, 50, 15);for(int i = 1; i<3; i++){auto *node = new ListObstacle;node->x = obstacle_x[i];node->y = obstacle_y[i];node->r = obstacle_r[i];node->next = obstacle->next;obstacle->next = node;}auto *start = new ListPoint(0, 0);auto *goal = new ListPoint(100, 100);auto *safe = new ListPoint(20, 20);auto *recover = new ListPoint(90, 90);RT rrt = RT(start, goal, safe, recover, ANGLE, STEP, DISTANCE, obstacle);rrt.planning();}【C++实现双向RRT算法】
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