Bidirectional A* #313
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Bidirectional A* #313
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AtsushiSakai
requested changes
Apr 19, 2020
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| c_id_A = min( | ||
| open_set_A, | ||
| key=lambda o: open_set_A[o].cost + self.calc_heuristic(current_B, |
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Readability is not good a little bit, can you make a function to calc a final cost?
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| c_id_B = min( | ||
| open_set_B, | ||
| key=lambda o: open_set_B[o].cost + self.calc_heuristic(current_A, |
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| 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) |
| if n_id_B in closed_set_B: | ||
| continue_B = True | ||
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| if not(continue_A): |
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Suggested change
| if not(continue_A): | |
| if not continue_A: |
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| 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 |
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Oops forgot to parse with autopep8, done now.
| # This path is the best until now. record it | ||
| open_set_A[n_id_A] = child_node_A | ||
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| if not(continue_B): |
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Suggested change
| if not(continue_B): | |
| if not continue_B: |
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| 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 |
AtsushiSakai
requested changes
Apr 24, 2020
| grid_size = 2.0 # [m] | ||
| robot_radius = 1.0 # [m] | ||
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| # set obstable positions |
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| 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) |
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pep8 error.
Could you move the the last "c_id_A" to the next line?
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| 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) |
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| return rx, ry | ||
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| def calc_final_path_bidir(self, meetnode_A, meetnode_B, closed_set_A, closed_set_B): |
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calc_final_bidirectional_path?
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@guilyx Thank you so much!! LGTM. I will merge it. |
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Implement Bidirectional A* algorithm. (two A* searching for the last node added to the other's closed set).