From 71daa7898d88f590ee4e65935e239115cb431fb5 Mon Sep 17 00:00:00 2001 From: Erwin Lejeune Date: Mon, 13 Apr 2020 14:34:47 +0200 Subject: [PATCH] easier path retrieving and shuffle children node --- PathPlanning/BreadthFirstSearch/breadth_first_search.py | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/PathPlanning/BreadthFirstSearch/breadth_first_search.py b/PathPlanning/BreadthFirstSearch/breadth_first_search.py index e67a4788..f4c0fcd0 100644 --- a/PathPlanning/BreadthFirstSearch/breadth_first_search.py +++ b/PathPlanning/BreadthFirstSearch/breadth_first_search.py @@ -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):