Program robot path planning algorithm, with C++ language, make improvements in the traditional RRT algorithm, so that the path planning time is greatly reduced, while increasing efficiency optimization

rrt-0.3
.......\1trailer1
.......\.........\GoalState
.......\.........\InitialState
.......\.........\Inputs
.......\.........\Model2DRigidCarSmoothTrailer
.......\.........\Obst
.......\.........\RRTExtExt
.......\.........\Robot
.......\.........\prob.idr
.......\2dhol1
.......\......\GoalState
.......\......\InitialState
.......\......\Model2DPoint
.......\......\Obst
.......\......\RRTExtExt
.......\......\Robot
.......\2dhol2
.......\......\GoalState
.......\......\InitialState
.......\......\Model2DPoint
.......\......\Obst
.......\......\RRTExtExt
.......\......\Robot
.......\......\prob.idr
.......\Makefile
.......\Makefile.ann
.......\Makefile.noann
.......\Obst
.......\README
.......\boor
.......\....\GoalState
.......\....\InitialState
.......\....\Model2DRigid
.......\....\Obst
.......\....\README
.......\....\RRTExtExt
.......\....\Robot
.......\car1
.......\....\GoalState
.......\....\InitialState
.......\....\Inputs
.......\....\Inputs.all
.......\....\Inputs.forward
.......\....\Model2DRigidCarSmooth
.......\....\Obst
.......\....\RRTExtExt
.......\....\Robot
.......\car2
.......\....\GoalState
.......\....\InitialState
.......\....\Inputs
.......\....\Model2DRigidCar
.......\....\Obst
.......\....\RRTExtExt
.......\....\Robot
.......\....\prob.idr
.......\car3
.......\....\GoalState
.......\....\InitialState
.......\....\Inputs
.......\....\Model2DRigidCar
.......\....\Obst
.......\....\RRTExtExt
.......\....\Robot
.......\chain2
.......\......\A
.......\......\GoalState
.......\......\InitialState
.......\......\Inputs
.......\......\Model2DRigidChain
.......\......\Obst
.......\......\RRTExtExt
.......\......\Robot
.......\convert.C
.......\cross
.......\.....\GoalState
.......\.....\InitialState
.......\.....\Model2DRigid
.......\.....\Obst
.......\.....\RRTExtExt
.......\.....\Robot
.......\.....\prob.idr
.......\empty
.......\.....\Robot
.......\gifmerge.c
.......\gifmerge.h
.......\gui.C
.......\gui.h
.......\linear1
.......\.......\A
.......\.......\B
.......\.......\ModelLinear
.......\.......\StateDim
.......\lunar1
.......\......\Model2DRigidLander
.......\......\Obst
.......\......\RRTExtExt
.......\......\Robot
.......\......\prob.idr

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