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bug fix

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Atsushi Sakai
2017-12-10 11:01:46 -08:00
parent ed3f2dfed1
commit a80bd82bf4
2 changed files with 10 additions and 10 deletions
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18
PathPlanning/AStar/a_star.py
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@@ -51,7 +51,7 @@ def a_star_planning(sx, sy, gx, gy, ox, oy, reso, rr):
# print("current", current)
# show graph
plt.plot(current.x, current.y, "xc")
plt.plot(current.x * reso, current.y * reso, "xc")
if len(closedset.keys()) % 10 == 0:
plt.pause(0.001)
matplotrecorder.save_frame()
@@ -87,12 +87,12 @@ def a_star_planning(sx, sy, gx, gy, ox, oy, reso, rr):
openset[n_id] = node
# generate final course
rx, ry = [ngoal.x], [ngoal.y]
rx, ry = [ngoal.x * reso], [ngoal.y * reso]
pind = ngoal.pind
while pind != -1:
n = closedset[pind]
rx.append(n.x)
ry.append(n.y)
rx.append(n.x * reso)
ry.append(n.y * reso)
pind = n.pind
return rx, ry
@@ -106,16 +106,16 @@ def calc_h(ngoal, x, y):
def verify_node(node, obmap, minx, miny, maxx, maxy):
if obmap[node.x][node.y]:
return False
if node.x < minx:
return False
elif node.y < miny:
return False
elif node.x > maxx:
elif node.x >= maxx:
return False
elif node.y > maxy:
elif node.y >= maxy:
return False
if obmap[node.x][node.y]:
return False
return True

2
README.md
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@@ -26,7 +26,7 @@ In the animation, cyan points are searched nodes.
## A star grid search
This h a 2D grid based shortest path planning with A star algorithm.
This is a 2D grid based shortest path planning with A star algorithm.
![PythonRobotics/figure_1.png at master · AtsushiSakai/PythonRobotics](https://github.com/AtsushiSakai/PythonRobotics/blob/master/PathPlanning/AStar/animation.gif)