Module rrt_path_smoothing 

RRT shortcut path smoothing.

This mirrors PythonRobotics PathPlanning/RRT/rrt_with_pathsmoothing.py rather than the grid line-of-sight post-processing in path_smoothing.rs.

Structs

RRTPathSmoothingConfig

Configuration for shortcut smoothing over an RRT-generated path.

RRTPathSmoothingPlanner

Shortcut-smoothed RRT planner.

Functions

get_path_length

line_collision_check

shortcut_path_smoothing