added rrt

.gitignore

@@ -127,3 +127,6 @@ dmypy.json
 
 # Pyre type checker
 .pyre/
+
+# Other
+.DS_Store

README.md

@@ -1,8 +1,26 @@
 # RRT
 Rapidly-exploring Random Tree
 
+## Introduction
+
 In this repository, I propose a python implementation of the Rapidly-exploring Random Tree.
 
 For the development of this code I was inspired by
-* the original paper by Steven M. Lavalle named *Rapidly-Exploring Random Trees: A New Tool for Path Planning.* Tech. rep. 1998.
-* [rrt on wikipedia](https://en.wikipedia.org/wiki/Rapidly-exploring_random_tree)
+* the original paper by Steven M. Lavalle named *Rapidly-Exploring Random Trees: A New Tool for Path Planning.*
+* the second paper by J.J. Kuffner and S.M. LaValle. *RRT-connect: An efficient approach to single-query path planning*
+* [the rrt article on wikipedia](https://en.wikipedia.org/wiki/Rapidly-exploring_random_tree)
+
+## Remarks
+
+I assume that you are already familiar with the concept of RRT.
+
+The hyperparameters must be set according to your needs.
+
+The collision detection function must be set according to your needs. A geometrical approach (based on obstacles shapes) works well but requires a loop over all obstacles and can become cumbersome with complex obstacles. The use of a simulation taking care of collision is therefore preferred (e.g Pybullet as it is very easy to use and fast!).
+
+By default, this implementation uses a bidirectionnal search. 
+
+
+
+
+## How To Use