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Improve readability to fetch lowest cost node

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This commit is contained in:
Erwin Lejeune
2020-04-19 15:02:08 +02:00
parent b827b3e2ee
commit b7f18b8416
1 changed files with 22 additions and 18 deletions
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40
PathPlanning/BidirectionalAStar/bidirectional_a_star.py
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@@ -75,24 +75,20 @@ class BidirectionalAStarPlanner:
if len(open_set_A) == 0:
print("Open set A is empty..")
break
if len(open_set_B) == 0:
print("Open set B is empty..")
break
c_id_A = min(
open_set_A,
key=lambda o: open_set_A[o].cost + self.calc_heuristic(current_B,
open_set_A[
o]))
key=lambda o: self.find_lowest_cost(open_set_A, o, current_B))
current_A = open_set_A[c_id_A]
c_id_B = min(
open_set_B,
key=lambda o: open_set_B[o].cost + self.calc_heuristic(current_A,
open_set_B[
o]))
key=lambda o: self.find_lowest_cost(open_set_B, o, current_A))
current_B = open_set_B[c_id_B]
@@ -129,12 +125,12 @@ class BidirectionalAStarPlanner:
continue_B = False
child_node_A = self.Node(current_A.x + self.motion[i][0],
current_A.y + self.motion[i][1],
current_A.cost + self.motion[i][2], c_id_A)
current_A.y + self.motion[i][1],
current_A.cost + self.motion[i][2], c_id_A)
child_node_B = self.Node(current_B.x + self.motion[i][0],
current_B.y + self.motion[i][1],
current_B.cost + self.motion[i][2], c_id_B)
current_B.y + self.motion[i][1],
current_B.cost + self.motion[i][2], c_id_B)
n_id_A = self.calc_grid_index(child_node_A)
n_id_B = self.calc_grid_index(child_node_B)
@@ -142,33 +138,36 @@ class BidirectionalAStarPlanner:
# If the node is not safe, do nothing
if not self.verify_node(child_node_A):
continue_A = True
if not self.verify_node(child_node_B):
continue_B = True
if n_id_A in closed_set_A:
continue_A = True
if n_id_B in closed_set_B:
continue_B = True
if not(continue_A):
if n_id_A not in open_set_A:
open_set_A[n_id_A] = child_node_A # discovered a new node
# discovered a new node
open_set_A[n_id_A] = child_node_A
else:
if open_set_A[n_id_A].cost > child_node_A.cost:
# This path is the best until now. record it
open_set_A[n_id_A] = child_node_A
if not(continue_B):
if n_id_B not in open_set_B:
open_set_B[n_id_B] = child_node_B # discovered a new node
# discovered a new node
open_set_B[n_id_B] = child_node_B
else:
if open_set_B[n_id_B].cost > child_node_B.cost:
# This path is the best until now. record it
open_set_B[n_id_B] = child_node_B
rx, ry = self.calc_final_path_bidir(meetpointA, meetpointB, closed_set_A, closed_set_B)
rx, ry = self.calc_final_path_bidir(
meetpointA, meetpointB, closed_set_A, closed_set_B)
return rx, ry
@@ -203,6 +202,11 @@ class BidirectionalAStarPlanner:
d = w * math.hypot(n1.x - n2.x, n1.y - n2.y)
return d
def find_lowest_cost(self, open_set, lambda_, n1):
cost = open_set[lambda_].cost + \
self.calc_heuristic(n1, open_set[lambda_])
return cost
def calc_grid_position(self, index, minp):
"""
calc grid position