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Update greedy_best_first_search - calc_final_path method (#477)

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* 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
This commit is contained in:
FXCarl
2021-02-21 14:23:13 +08:00
committed by GitHub
parent 078c62bc3e
commit c025299dcf
3 changed files with 23 additions and 12 deletions
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PathPlanning/GreedyBestFirstSearch/greedy_best_first_search.py
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@@ -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))