github/PythonRobotics
1
1
Fork 0
mirror of https://github.com/AtsushiSakai/PythonRobotics.git synced 2026-01-13 21:28:33 -05:00
Code Issues Packages Projects Releases Wiki Activity

not adding parent if node in closed set

Browse Source
This commit is contained in:
Erwin Lejeune
2020-04-14 15:27:33 +02:00
parent 71daa7898d
commit 81622428ef
1 changed files with 2 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files

3
PathPlanning/BreadthFirstSearch/breadth_first_search.py
View File

@@ -106,7 +106,7 @@ class BreadthFirstSearchPlanner:
for i, _ in enumerate(self.motion):
node = self.Node(current.x + self.motion[i][0],
current.y + self.motion[i][1],
current.cost + self.motion[i][2], c_id+1, current)
current.cost + self.motion[i][2], c_id+1, None)
n_id = self.calc_grid_index(node)
# If the node is not safe, do nothing
@@ -114,6 +114,7 @@ class BreadthFirstSearchPlanner:
continue
if n_id not in closed_set:
node.parent = current
closed_set[n_id] = node
open_set[n_id] = node