我在 rrt_2D 中有个关于 "rrt_star.py" 的问题。

def find_near_neighbor(self, node_new): n = len(self.vertex) + 1 r = min(self.search_radius * math.sqrt((math.log(n) / n)), self.step_len) dist_table = [math.hypot(nd.x - node_new.x, nd.y - node_new.y) for nd in self.vertex] dist_table_index = [ind for ind in range(len(dist_table)) if dist_table[ind] <= r and not self.utils.is_collision(node_new, self.vertex[ind])] return dist_table_index