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This commit is contained in:
Erwin Lejeune
2020-04-24 15:16:05 +02:00
parent 63a920223b
commit 38519b5df8
1 changed files with 7 additions and 5 deletions
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12
PathPlanning/BidirectionalAStar/bidirectional_a_star.py
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@@ -126,11 +126,13 @@ class BidirectionalAStarPlanner:
child_node_A = self.Node(current_A.x + self.motion[i][0],
current_A.y + self.motion[i][1],
current_A.cost + self.motion[i][2], c_id_A)
current_A.cost + self.motion[i][2],
c_id_A)
child_node_B = self.Node(current_B.x + self.motion[i][0],
current_B.y + self.motion[i][1],
current_B.cost + self.motion[i][2], c_id_B)
current_B.cost + self.motion[i][2],
c_id_B)
n_id_A = self.calc_grid_index(child_node_A)
n_id_B = self.calc_grid_index(child_node_B)
@@ -166,12 +168,12 @@ class BidirectionalAStarPlanner:
# This path is the best until now. record it
open_set_B[n_id_B] = child_node_B
rx, ry = self.calc_final_path_bidir(
rx, ry = self.calc_final_bidirectional_path(
meetpointA, meetpointB, closed_set_A, closed_set_B)
return rx, ry
def calc_final_path_bidir(self, meetnode_A, meetnode_B, closed_set_A, closed_set_B):
def calc_final_bidirectional_path(self, meetnode_A, meetnode_B, closed_set_A, closed_set_B):
rx_A, ry_A = self.calc_final_path(meetnode_A, closed_set_A)
rx_B, ry_B = self.calc_final_path(meetnode_B, closed_set_B)
@@ -299,7 +301,7 @@ def main():
grid_size = 2.0 # [m]
robot_radius = 1.0 # [m]
# set obstable positions
# set obstacle positions
ox, oy = [], []
for i in range(-10, 60):
ox.append(i)