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update code

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Atsushi Sakai
2018-06-30 13:13:08 +09:00
parent f38c1f2fa5
commit f299826eb9
1 changed files with 4 additions and 1 deletions
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5
PathPlanning/AStar/a_star.py
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@@ -100,9 +100,12 @@ def a_star_planning(sx, sy, gx, gy, ox, oy, reso, rr):
if n_id not in openset:
openset[n_id] = node # Discover a new node
if node.cost >= node.cost:
tcost = current.cost + calc_heuristic(current, node)
if tcost >= node.cost:
continue # this is not a better path
node.cost = tcost
openset[n_id] = node # This path is the best unitl now. record it!
rx, ry = calc_fianl_path(ngoal, closedset, reso)