main.cpp

#include <bits/stdc++.h>
#include "RRT.hpp"
using namespace std;


int main(){
        Cobs c0(50.0, 130.0, 80.0,20.0);
	 	Cobs c1(100.0, 15.0, 200.0,50.0);
        Cobs c2(40.0, 200.0, 50.0,50.0);
        vector<Cobs> all;
        all.push_back(c0);
        all.push_back(c1);
        all.push_back(c2);

        RRTMain rrt(all, 400, 400);
        vertex aa = make_pair(100,300);
        vertex b = make_pair(139,5);
        rrt.init(aa, b, 5, 1000);
        try{
            rrt.run();
        }catch(exception &e){
            cout<<"Exception.."<<e.what()<<endl;
        }
        
        rrt.welcome();
        rrt.save();
        rrt.plot();

	return 0;
}