Strange Animation Results in test_rrt_star_reeds_shepp.py

[videh25]

Bug

test3 in test_rrt_star_reeds_shepp.py tries to generate a path with step_size = 20. Since it is a test file, animation is kept off. However, on turning the animation on, the result is very weird. RRT does not plan with smooth RS curves but rather with straight lines with sharp corners.

Expected Behaviour

Also ran test2 from test_rrt_star_reeds_shepp.py (step_size = 0.2). They plan and generate smooth RS curves only.

Screenshots

test3 Animation

test2 Animation

Desktop

• Python 3.9.5
• numpy 1.24.3
• scipy 1.10.1
• matplotlib 3.7.1
• cvxpy 1.4.1
• Ubuntu 20.04

[AtsushiSakai]

@videh25 Is it OK to close this issue by your PR?

[videh25]

Yes, sounds great!