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Fix pep8 indents

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This commit is contained in:
Erwin Lejeune
2020-04-19 15:04:38 +02:00
parent b7f18b8416
commit 63a920223b
1 changed files with 9 additions and 8 deletions
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17
PathPlanning/BidirectionalAStar/bidirectional_a_star.py
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@@ -82,13 +82,13 @@ class BidirectionalAStarPlanner:
c_id_A = min(
open_set_A,
key=lambda o: self.find_lowest_cost(open_set_A, o, current_B))
key=lambda o: self.find_total_cost(open_set_A, o, current_B))
current_A = open_set_A[c_id_A]
c_id_B = min(
open_set_B,
key=lambda o: self.find_lowest_cost(open_set_B, o, current_A))
key=lambda o: self.find_total_cost(open_set_B, o, current_A))
current_B = open_set_B[c_id_B]
@@ -148,7 +148,7 @@ class BidirectionalAStarPlanner:
if n_id_B in closed_set_B:
continue_B = True
if not(continue_A):
if not continue_A:
if n_id_A not in open_set_A:
# discovered a new node
open_set_A[n_id_A] = child_node_A
@@ -157,7 +157,7 @@ class BidirectionalAStarPlanner:
# This path is the best until now. record it
open_set_A[n_id_A] = child_node_A
if not(continue_B):
if not continue_B:
if n_id_B not in open_set_B:
# discovered a new node
open_set_B[n_id_B] = child_node_B
@@ -202,10 +202,11 @@ class BidirectionalAStarPlanner:
d = w * math.hypot(n1.x - n2.x, n1.y - n2.y)
return d
def find_lowest_cost(self, open_set, lambda_, n1):
cost = open_set[lambda_].cost + \
self.calc_heuristic(n1, open_set[lambda_])
return cost
def find_total_cost(self, open_set, lambda_, n1):
g_cost = open_set[lambda_].cost
h_cost = self.calc_heuristic(n1, open_set[lambda_])
f_cost = g_cost + h_cost
return f_cost
def calc_grid_position(self, index, minp):
"""