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hybrid a star python 3.5

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zks
2019-03-24 14:27:03 +08:00
parent e102b5dd5f
commit d8367b56b7
1 changed files with 2 additions and 2 deletions
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4
PathPlanning/HybridAStar/hybrid_a_star.py
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@@ -3,6 +3,7 @@
Hybrid A* path planning
author: Atsushi Sakai (@Atsushi_twi)
Zheng Zh (@Zhengzh)
"""
@@ -143,7 +144,7 @@ def calc_motion_inputs():
def get_neighbors(current, config, ox, oy, kdtree):
# import ipdb; ipdb.set_trace()
for steer, d in calc_motion_inputs():
node = calc_next_node(current, steer, d, config, ox, oy, kdtree)
if node and verify_index(node, config):
@@ -163,7 +164,6 @@ def calc_next_node(current, steer, direction, config, ox, oy, kdtree):
# plt.plot(xlist, ylist)
if not check_car_collision(xlist, ylist, yawlist, ox, oy, kdtree):
# import ipdb; ipdb.set_trace()
return None
d = direction==1