From c025299dcfe8db7383704601c28dc48f6dc262db Mon Sep 17 00:00:00 2001
From: FXCarl <fxcarlcn@gmail.com>
Date: Sun, 21 Feb 2021 14:23:13 +0800
Subject: [PATCH] Update greedy_best_first_search - calc_final_path method
 (#477)

* Update greedy_best_first_search.py

parent_index should be pind. other wise it cann't work

* add breadth first search test

* Add greedy best first search test
---
 .../greedy_best_first_search.py               |  2 +-
 tests/test_breadth_first_search.py            | 22 +++++++++----------
 tests/test_greedy_best_first_search.py        | 11 ++++++++++
 3 files changed, 23 insertions(+), 12 deletions(-)
 create mode 100644 tests/test_greedy_best_first_search.py

diff --git a/PathPlanning/GreedyBestFirstSearch/greedy_best_first_search.py b/PathPlanning/GreedyBestFirstSearch/greedy_best_first_search.py
index 7100b0e6..f2416fba 100644
--- a/PathPlanning/GreedyBestFirstSearch/greedy_best_first_search.py
+++ b/PathPlanning/GreedyBestFirstSearch/greedy_best_first_search.py
@@ -132,7 +132,7 @@ class BestFirstSearchPlanner:
         # generate final course
         rx, ry = [self.calc_grid_position(ngoal.x, self.minx)], [
             self.calc_grid_position(ngoal.y, self.miny)]
-        n = closedset[ngoal.parent_index]
+        n = closedset[ngoal.pind]
         while n is not None:
             rx.append(self.calc_grid_position(n.x, self.minx))
             ry.append(self.calc_grid_position(n.y, self.miny))
diff --git a/tests/test_breadth_first_search.py b/tests/test_breadth_first_search.py
index 14c1ac69..bfc63e39 100644
--- a/tests/test_breadth_first_search.py
+++ b/tests/test_breadth_first_search.py
@@ -1,11 +1,11 @@
-import conftest
-from PathPlanning.BreadthFirstSearch import breadth_first_search as m
-
-
-def test_1():
-    m.show_animation = False
-    m.main()
-
-
-if __name__ == '__main__':
-    conftest.run_this_test(__file__)
+import conftest
+from PathPlanning.BreadthFirstSearch import breadth_first_search as m
+
+
+def test_1():
+    m.show_animation = False
+    m.main()
+
+
+if __name__ == '__main__':
+    conftest.run_this_test(__file__)
diff --git a/tests/test_greedy_best_first_search.py b/tests/test_greedy_best_first_search.py
new file mode 100644
index 00000000..e573ecf6
--- /dev/null
+++ b/tests/test_greedy_best_first_search.py
@@ -0,0 +1,11 @@
+import conftest
+from PathPlanning.GreedyBestFirstSearch import greedy_best_first_search as m
+
+
+def test_1():
+    m.show_animation = False
+    m.main()
+
+
+if __name__ == '__main__':
+    conftest.run_this_test(__file__)