All python programs can be directly run individually.
All the obstacles, goal and number of sample points and all variables can be changed by looking under "#Variables" in all the programs
Sample obstacles, goal points have been already set.
Specific things for individual programs, things that may not be explained in comments
Note: bounds_of_plane is a rectangular region which has two of it's diagonal vertices as origin (0, 0) and the tuple bounds_of_plane
1)RRT - For RRT, most variables can be found under "#variables" (line - 61). However, Obstacles, start point and goal cannot be found under "#variables", they can be changed in the function called test_rrt() (line - 135).
2)RRT* - "#variables can be found on (line - 91)
3)PRM + Astar - "#variables can be found on (line - 92)