%%???RRT*?3D?state?space
%%??-?create?a?path?from?a?start?node?to?an?end?node
%%????using?the?RRT?algorithm.
%%??-?RRT*?=?Rapidly-exploring?Random?Tree?star
%%?This?short?programm?is?writen?based?other?basic?RRT?code?and?used?for?test?my?hardware?work?.
%%?Apologize?no?time?to?add?the?enough?comments?
%%??Size（Adrian）?Xiao???DEC?2016??University?of?Queensland?Australia??uqsxiao@uq.edu.au

function?RRT_star_3D;

clear?all;
%?create?random?worlddetermine?the?parameters?of?simulation
Size?=?16384;???????%?the?2D?world?is?a?100?by?100?map

Obs_Cordi?=?[111;111;111];
NumObstacles?=?3;?%?randomly?obstacles?distributed?on?the?map
maxObstacleRadius?=?0.05;?%?define?the?max?radius?of?obstacle
maxturningangle?=?1.05;??%75deg
Heading?=?0.758;%?45?degree;?ccw?rotation?ve