Informed RRT* 2D mistake

[GuancongLuo]

[GuancongLuo]

I think Informed RRT* have some error about calculation path_cost.

[zhm-real]

Thanks for your feedback! We will check it later.

[Zhang-yulong]

I think Informed RRT* have some error about calculation path_cost.

Do you encounter this error when running? File "C:\Downloads\PathPlanning-master\Sampling_based_Planning\rrt_2D\informed_rrt_star.py", line 288, in draw_ellipse rot = Rot.from_euler('z', -angle).as_dcm()[0:2, 0:2] AttributeError: 'scipy.spatial.transform.rotation.Rotation' object has no attribute 'as_dcm'

[Mossholder]

I think Informed RRT* have some error about calculation path_cost.

Do you encounter this error when running? File "C:\Downloads\PathPlanning-master\Sampling_based_Planning\rrt_2D\informed_rrt_star.py", line 288, in draw_ellipse rot = Rot.from_euler('z', -angle).as_dcm()[0:2, 0:2] AttributeError: 'scipy.spatial.transform.rotation.Rotation' object has no attribute 'as_dcm'

You could replace "as_dcm" with "as_matrix". It's a bug about the version of scipy.