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fix astar logic

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Atsushi Sakai
2018-09-16 09:18:23 +09:00
parent a45215e4dc
commit 26fb451fbf
1 changed files with 4 additions and 8 deletions
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12
PathPlanning/AStar/a_star.py
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@@ -99,14 +99,10 @@ def a_star_planning(sx, sy, gx, gy, ox, oy, reso, rr):
if n_id not in openset:
openset[n_id] = node # Discover a new node
tcost = current.cost + calc_heuristic(current, node)
if tcost >= node.cost:
continue # this is not a better path
node.cost = tcost
openset[n_id] = node # This path is the best unitl now. record it!
else:
if openset[n_id].cost >= node.cost:
# This path is the best until now. record it!
openset[n_id] = node
rx, ry = calc_fianl_path(ngoal, closedset, reso)