add error handling code

2026-01-14 22:57:55 -05:00 · 2018-06-16 22:14:09 +09:00
parent a7eec6371b
commit ba2247c1b0
1 changed files with 5 additions and 1 deletions
--- a/PathPlanning/BatchInformedRRTStar/batch_informed_rrtstar.py
+++ b/PathPlanning/BatchInformedRRTStar/batch_informed_rrtstar.py
@@ -311,7 +311,11 @@ class BITStar(object):
        currId = self.goalId
        while (currId != self.startId):
            plan.append(self.tree.nodeIdToRealWorldCoord(currId))
-            currId = self.nodes[currId]
+            try:
+                currId = self.nodes[currId]
+            except(KeyError):
+                print("Path key error")
+                return []

        plan.append(self.start)
        plan = plan[::-1]  # reverse the plan