From 81622428ef03cf27123cf9c79dede051cf8d1b89 Mon Sep 17 00:00:00 2001 From: Erwin Lejeune Date: Tue, 14 Apr 2020 15:27:33 +0200 Subject: [PATCH] not adding parent if node in closed set --- PathPlanning/BreadthFirstSearch/breadth_first_search.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/PathPlanning/BreadthFirstSearch/breadth_first_search.py b/PathPlanning/BreadthFirstSearch/breadth_first_search.py index f4c0fcd0..f2580243 100644 --- a/PathPlanning/BreadthFirstSearch/breadth_first_search.py +++ b/PathPlanning/BreadthFirstSearch/breadth_first_search.py @@ -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