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easier path retrieving and shuffle children node

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Erwin Lejeune
2020-04-13 14:34:47 +02:00
parent 68c4c78e08
commit 71daa7898d
1 changed files with 3 additions and 4 deletions
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7
PathPlanning/BreadthFirstSearch/breadth_first_search.py
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@@ -100,6 +100,8 @@ class BreadthFirstSearchPlanner:
# Remove the item from the open set
del open_set[c_id]
random.shuffle(self.motion)
# expand_grid search grid based on motion model
for i, _ in enumerate(self.motion):
node = self.Node(current.x + self.motion[i][0],
@@ -123,14 +125,11 @@ class BreadthFirstSearchPlanner:
rx, ry = [self.calc_grid_position(ngoal.x, self.minx)], [
self.calc_grid_position(ngoal.y, self.miny)]
n = closedset[ngoal.pind]
while n.parent is not None:
while n is not None:
rx.append(self.calc_grid_position(n.x, self.minx))
ry.append(self.calc_grid_position(n.y, self.miny))
n = n.parent
rx.append(self.calc_grid_position(n.x, self.minx))
ry.append(self.calc_grid_position(n.y, self.miny))
return rx, ry
def calc_grid_position(self, index, minp):