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Merge pull request #168 from rezaxdi/patch-1

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Update a_star.py
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Atsushi Sakai
2019-02-06 15:55:44 +09:00
committed by GitHub
parent 0e71384027 7a8016e325
commit 4f70fd67b8
1 changed files with 2 additions and 2 deletions
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4
PathPlanning/AStar/a_star.py
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@@ -27,7 +27,7 @@ class Node:
return str(self.x) + "," + str(self.y) + "," + str(self.cost) + "," + str(self.pind)
def calc_fianl_path(ngoal, closedset, reso):
def calc_final_path(ngoal, closedset, reso):
# generate final course
rx, ry = [ngoal.x * reso], [ngoal.y * reso]
pind = ngoal.pind
@@ -104,7 +104,7 @@ def a_star_planning(sx, sy, gx, gy, ox, oy, reso, rr):
# This path is the best until now. record it!
openset[n_id] = node
rx, ry = calc_fianl_path(ngoal, closedset, reso)
rx, ry = calc_final_path(ngoal, closedset, reso)
return rx, ry