2 This file is part of I am car.
4 I am car is free software: you can redistribute it and/or modify
5 it under the terms of the GNU General Public License as published by
6 the Free Software Foundation, either version 3 of the License, or
7 (at your option) any later version.
9 I am car is distributed in the hope that it will be useful,
10 but WITHOUT ANY WARRANTY; without even the implied warranty of
11 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
12 GNU General Public License for more details.
14 You should have received a copy of the GNU General Public License
15 along with I am car. If not, see <http://www.gnu.org/licenses/>.
24 float new_x = VMIN + static_cast<float>(rand()) /
25 static_cast<float>(RAND_MAX / (VMAX - VMIN));
26 float new_y = HMIN + static_cast<float>(rand()) /
27 static_cast<float>(RAND_MAX / (HMAX - HMIN));
28 float new_h = static_cast<float>(rand()) /
29 static_cast<float>(RAND_MAX / (2 * M_PI));
30 return new RRTNode(new_x, new_y, new_h);