Remove PathLen in informed RRT* and instead with cBest

2026-04-22 03:00:22 -04:00 · 2019-10-27 16:08:28 +08:00
parent 66fe2f5ef6
commit 69772b4ad6
1 changed files with 1 additions and 2 deletions
--- a/PathPlanning/InformedRRTStar/informed_rrt_star.py
+++ b/PathPlanning/InformedRRTStar/informed_rrt_star.py
@@ -40,7 +40,6 @@ class InformedRRTStar:
        self.node_list = [self.start]
        # max length we expect to find in our 'informed' sample space, starts as infinite
        cBest = float('inf')
-        pathLen = float('inf')
        solutionSet = set()
        path = None

@@ -89,7 +88,7 @@ class InformedRRTStar:
                    lastIndex = len(self.node_list) - 1
                    tempPath = self.get_final_course(lastIndex)
                    tempPathLen = self.get_path_len(tempPath)
-                    if tempPathLen < pathLen:
+                    if tempPathLen < cBest:
                        path = tempPath
                        cBest = tempPathLen