start implementing dijkstra path planning code

PathPlanning/Dijkstra/dijkstra.py

@@ -0,0 +1,63 @@
+"""
+
+Dijkstra grid based planning
+
+author: Atsushi Sakai
+"""
+
+
+class Node:
+
+    def __init__(self):
+        self.x = -1
+        self.y = -1
+        self.cost = 0.0
+        self.pind = -1
+
+
+def main():
+    print(__file__ + " start!!")
+
+    # start and goal position
+    sx = 50.0  # [m]
+    sy = 450.0  # [m]
+    gx = -50.0  # [m]
+    gy = 560.0  # [m]
+
+    ox = []
+    oy = []
+
+    #  for i in 0:
+    #  60
+    #  push!(ox, Float64(i))
+    #  push!(oy, 0.0)
+    #  end
+    #  for i in 0:
+    #  60
+    #  push!(ox, 60.0)
+    #  push!(oy, Float64(i))
+    #  end
+    #  for i in 0:
+    #  60
+    #  push!(ox, Float64(i))
+    #  push!(oy, 60.0)
+    #  end
+    #  for i in 0:
+    #  60
+    #  push!(ox, 0.0)
+    #  push!(oy, Float64(i))
+    #  end
+    #  for i in 0:
+    #  40
+    #  push!(ox, 20.0)
+    #  push!(oy, Float64(i))
+    #  end
+    #  for i in 0:
+    #  40
+    #  push!(ox, 40.0)
+    #  push!(oy, 60.0 - Float64(i))
+    #  end
+
+
+if __name__ == '__main__':
+    main()