Update loop conditions to be more idiomatic; fix missing imports (#768)

* missing import

* use while true

Mapping/rectangle_fitting/rectangle_fitting.py

@@ -162,7 +162,7 @@ class LShapeFitting:
             S.append(C)
 
         # Merge cluster
-        while 1:
+        while True:
             no_change = True
             for (c1, c2) in list(itertools.permutations(range(len(S)), 2)):
                 if S[c1] & S[c2]:

PathPlanning/AStar/a_star.py

@@ -71,7 +71,7 @@ class AStarPlanner:
         open_set, closed_set = dict(), dict()
         open_set[self.calc_grid_index(start_node)] = start_node
 
-        while 1:
+        while True:
             if len(open_set) == 0:
                 print("Open set is empty..")
                 break

PathPlanning/BidirectionalAStar/bidirectional_a_star.py

@@ -75,7 +75,7 @@ class BidirectionalAStarPlanner:
         current_B = goal_node
         meet_point_A, meet_point_B = None, None
 
-        while 1:
+        while True:
             if len(open_set_A) == 0:
                 print("Open set A is empty..")
                 break

PathPlanning/BidirectionalBreadthFirstSearch/bidirectional_breadth_first_search.py

@@ -76,7 +76,7 @@ class BidirectionalBreadthFirstSearchPlanner:
 
         meet_point_A, meet_point_B = None, None
 
-        while 1:
+        while True:
             if len(open_set_A) == 0:
                 print("Open set A is empty..")
                 break

PathPlanning/BreadthFirstSearch/breadth_first_search.py

@@ -67,7 +67,7 @@ class BreadthFirstSearchPlanner:
         open_set, closed_set = dict(), dict()
         open_set[self.calc_grid_index(nstart)] = nstart
 
-        while 1:
+        while True:
             if len(open_set) == 0:
                 print("Open set is empty..")
                 break

PathPlanning/DepthFirstSearch/depth_first_search.py

@@ -67,7 +67,7 @@ class DepthFirstSearchPlanner:
         open_set, closed_set = dict(), dict()
         open_set[self.calc_grid_index(nstart)] = nstart
 
-        while 1:
+        while True:
             if len(open_set) == 0:
                 print("Open set is empty..")
                 break

PathPlanning/Dijkstra/dijkstra.py

@@ -71,7 +71,7 @@ class Dijkstra:
         open_set, closed_set = dict(), dict()
         open_set[self.calc_index(start_node)] = start_node
 
-        while 1:
+        while True:
             c_id = min(open_set, key=lambda o: open_set[o].cost)
             current = open_set[c_id]
 

PathPlanning/GreedyBestFirstSearch/greedy_best_first_search.py

@@ -67,7 +67,7 @@ class BestFirstSearchPlanner:
         open_set, closed_set = dict(), dict()
         open_set[self.calc_grid_index(nstart)] = nstart
 
-        while 1:
+        while True:
             if len(open_set) == 0:
                 print("Open set is empty..")
                 break

PathPlanning/HybridAStar/dynamic_programming_heuristic.py

@@ -65,7 +65,7 @@ def calc_distance_heuristic(gx, gy, ox, oy, resolution, rr):
     open_set[calc_index(goal_node, x_w, min_x, min_y)] = goal_node
     priority_queue = [(0, calc_index(goal_node, x_w, min_x, min_y))]
 
-    while 1:
+    while True:
         if not priority_queue:
             break
         cost, c_id = heapq.heappop(priority_queue)

tests/test_grid_map_lib.py

@@ -1,4 +1,5 @@
 from Mapping.grid_map_lib.grid_map_lib import GridMap
+import conftest
 import numpy as np