adding gif for dijkstra

Author: SalahEddineGhamri

README.md

@@ -27,7 +27,7 @@ cargo run --bin ekf
       * [Cubic Spline](#cubic-spline)
       * [Dynamic Window Approach](#dynamic-window-approach)
       * [Model Predictive Trajectory Generator](#model-predictive-trajectory-generator)
-      * Dijkstra algorithm
+      * [Dijkstra algorithm](#dijkstra_planner)
       * Potential Field algorithm
       * State Lattice Planner
       * Rapidly-Exploring Random Trees (RRT)
@@ -112,6 +112,11 @@ cargo run --bin model_predictive_trajectory_generator
 ```
 
 ## Dijkstra algorithm
+
+<img src="./media/dijkstra-motion-planner.gif" width="640px">
+
+- [src](./src/bin/dijkstra.rs)
+
 ## Potential Field algorithm
 ## State Lattice Planner
 ## Rapidly-Exploring Random Trees

media/dijkstra-motion-planner.gif

@@ -99,6 +99,8 @@ fn dijkstra_planner(obstacle_map: &grid_map::Map, source: &(usize, usize), goal:
         }
     }
 
+    let mut stop = true;
+
     loop {
         let filter_dist: BTreeMap<_, _> = dist
         .iter()
@@ -172,6 +174,11 @@ fn dijkstra_planner(obstacle_map: &grid_map::Map, source: &(usize, usize), goal:
         fg.show_and_keep_running().unwrap();
         sleep(Duration::from_millis(10));
 
+        if stop {
+            sleep(Duration::from_millis(10000));
+            stop = false;
+        }
+
         if path_x.len() > 1 {
             fg.save_to_svg(format!("{}/img/dijkstra_planner.svg", crate_dir).as_str(), 800, 600);
             break