About ‘def planning_block_gap’ and ‘def planning_random’

[Maxianzhai]

Hi Huang, I was reading nirrt_star_png_2d.py and nrrt_star_gng_2d.py and noticed that def planning_block_gap and def planning_random do not seem to be used. After I comment out these two defs, the results don't seem to be affected by path planning in either environment. I would like to ask you what these two defs do.

[tedhuang96]

These functions are used here:

nirrt_star/eval_planning_2d.py

Lines 117 to 125 in 69e81b3

	if args.problem == 'block':
	path_len_threshold = problem['best_path_len']*(1+args.path_len_threshold_percentage)
	path_len_list = path_planner.planning_block_gap(path_len_threshold)
	elif args.problem == 'gap':
	path_len_list = path_planner.planning_block_gap(problem['flank_path_len'])
	elif args.problem == 'random_2d':
	path_len_list = path_planner.planning_random(
	args.iter_after_initial,
	)