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code clean up

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Atsushi Sakai
2018-06-30 12:43:43 +09:00
parent bb4b07247c
commit 0fa70bc764
1 changed files with 7 additions and 3 deletions
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10
PathPlanning/AStar/a_star.py
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@@ -6,7 +6,6 @@ author: Atsushi Sakai(@Atsushi_twi)
Nikos Kanargias (nkana@tee.gr)
See Wikipedia article (https://en.wikipedia.org/wiki/A*_search_algorithm)
See also code of Christian Careaga (http://code.activestate.com/recipes/578919-python-a-pathfinding-with-binary-heap/)
"""
@@ -98,8 +97,13 @@ def a_star_planning(sx, sy, gx, gy, ox, oy, reso, rr):
if not verify_node(node, obmap, minx, miny, maxx, maxy):
continue
if node.cost < node.cost or n_id not in openset:
openset[n_id] = node # update or insert new node
if n_id not in openset:
openset[n_id] = node # Discover a new node
if node.cost >= node.cost:
continue # this is not a better path
openset[n_id] = node # This path is the best unitl now. record it!
rx, ry = calc_fianl_path(ngoal, closedset, reso)