release grid based_sweep_coverage_path_planner.py

PathPlanning/GridBasedSweepCPP/grid_based_sweep_coverage_path_planner.py

@@ -39,7 +39,6 @@ class SweepSearcher:
         self.goaly = goaly
 
     def move_target_grid(self, cxind, cyind, gmap):
-
         nxind = self.moving_direction + cxind
         nyind = cyind
 
@@ -96,7 +95,8 @@ class SweepSearcher:
         self.update_turning_window()
 
     def search_start_grid(self, grid_map):
-        xinds = [], y_ind = 0
+        xinds = []
+        y_ind = 0
         if self.sweep_direction == self.SweepDirection.DOWN:
             xinds, y_ind = search_free_grid_index_at_edge_y(grid_map, from_upper=True)
         elif self.sweep_direction == self.SweepDirection.UP:
@@ -191,7 +191,8 @@ def setup_grid_map(ox, oy, reso, sweep_direction, offset_grid=10):
 
     grid_map.expand_grid()
 
-    xinds_goaly = [], goaly = 0
+    xinds_goaly = []
+    goaly = 0
     if sweep_direction == SweepSearcher.SweepDirection.UP:
         xinds_goaly, goaly = search_free_grid_index_at_edge_y(grid_map, from_upper=True)
     elif sweep_direction == SweepSearcher.SweepDirection.DOWN:

tests/test_grid_based_sweep_coverage_path_planner.py

@@ -1,7 +1,12 @@
+import os
+import sys
 from unittest import TestCase
 
-import grid_based_sweep_coverage_path_planner
-
+sys.path.append(os.path.dirname(os.path.abspath(__file__)) + "/../PathPlanning/GridBasedSweepCPP")
+try:
+    import grid_based_sweep_coverage_path_planner
+except:
+    raise
 
 class TestPlanning(TestCase):