From cce0f7249c65cc2e3192b02979eee8a9dcda7ed0 Mon Sep 17 00:00:00 2001 From: Atsushi Sakai Date: Fri, 26 Jan 2018 15:11:52 -0800 Subject: [PATCH] add error handling for rrt_star_dubins --- PathPlanning/RRTStarDubins/rrt_star_dubins.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/PathPlanning/RRTStarDubins/rrt_star_dubins.py b/PathPlanning/RRTStarDubins/rrt_star_dubins.py index 82c9c715..4728cbd7 100644 --- a/PathPlanning/RRTStarDubins/rrt_star_dubins.py +++ b/PathPlanning/RRTStarDubins/rrt_star_dubins.py @@ -154,6 +154,9 @@ class RRT(): if abs(self.nodeList[i].yaw - self.end.yaw) <= YAWTH: fgoalinds.append(i) + if len(fgoalinds) == 0: + return None + mincost = min([self.nodeList[i].cost for i in fgoalinds]) for i in fgoalinds: if self.nodeList[i].cost == mincost: