refactor hybrid_a_star codes and clean up heuristic function names (AtsushiSakai#371)

* refactor hybrid_a_star code heuristic function names and codes

* removed empty line

Author: AtsushiSakai

.github/workflows/circleci-artifacts-redirector.yml

@@ -11,6 +11,3 @@ jobs:
           repo-token: ${{ secrets.GITHUB_TOKEN }}
           artifact-path: 0/html/index.html
           circleci-jobs: build_doc
-      - name: Check the URL
-        run: |
-          curl --fail ${{ steps.step1.outputs.url }} | grep $GITHUB_SHA

PathPlanning/HybridAStar/a_star_heuristic.py renamed to PathPlanning/HybridAStar/dynamic_programming_heuristic.py

@@ -42,7 +42,7 @@ def calc_final_path(goal_node, closed_node_set, resolution):
     return rx, ry
 
 
-def dp_planning(sx, sy, gx, gy, ox, oy, resolution, rr):
+def calc_distance_heuristic(gx, gy, ox, oy, resolution, rr):
     """
     gx: goal x position [m]
     gx: goal x position [m]
@@ -52,7 +52,6 @@ def dp_planning(sx, sy, gx, gy, ox, oy, resolution, rr):
     rr: robot radius[m]
     """
 
-    start_node = Node(round(sx / resolution), round(sy / resolution), 0.0, -1)
     goal_node = Node(round(gx / resolution), round(gy / resolution), 0.0, -1)
     ox = [iox / resolution for iox in ox]
     oy = [ioy / resolution for ioy in oy]
@@ -115,16 +114,7 @@ def dp_planning(sx, sy, gx, gy, ox, oy, resolution, rr):
                         priority_queue,
                         (node.cost, calc_index(node, x_w, min_x, min_y)))
 
-    rx, ry = calc_final_path(closed_set[calc_index(
-        start_node, x_w, min_x, min_y)], closed_set, resolution)
-
-    return rx, ry, closed_set
-
-
-def calc_heuristic(n1, n2):
-    w = 1.0  # weight of heuristic
-    d = w * math.sqrt((n1.x - n2.x) ** 2 + (n1.y - n2.y) ** 2)
-    return d
+    return closed_set
 
 
 def verify_node(node, obstacle_map, min_x, min_y, max_x, max_y):
@@ -184,54 +174,3 @@ def get_motion_model():
               [1, 1, math.sqrt(2)]]
 
     return motion
-
-
-def main():
-    print(__file__ + " start!!")
-
-    # start and goal position
-    sx = 10.0  # [m]
-    sy = 10.0  # [m]
-    gx = 50.0  # [m]
-    gy = 50.0  # [m]
-    grid_size = 2.0  # [m]
-    robot_size = 1.0  # [m]
-
-    ox, oy = [], []
-
-    for i in range(60):
-        ox.append(i)
-        oy.append(0.0)
-    for i in range(60):
-        ox.append(60.0)
-        oy.append(i)
-    for i in range(61):
-        ox.append(i)
-        oy.append(60.0)
-    for i in range(61):
-        ox.append(0.0)
-        oy.append(i)
-    for i in range(40):
-        ox.append(20.0)
-        oy.append(i)
-    for i in range(40):
-        ox.append(40.0)
-        oy.append(60.0 - i)
-
-    if show_animation:  # pragma: no cover
-        plt.plot(ox, oy, ".k")
-        plt.plot(sx, sy, "xr")
-        plt.plot(gx, gy, "xb")
-        plt.grid(True)
-        plt.axis("equal")
-
-    rx, ry, _ = dp_planning(sx, sy, gx, gy, ox, oy, grid_size, robot_size)
-
-    if show_animation:  # pragma: no cover
-        plt.plot(rx, ry, "-r")
-        plt.show()
-
-
-if __name__ == '__main__':
-    show_animation = True
-    main()

PathPlanning/HybridAStar/hybrid_a_star.py

@@ -18,7 +18,7 @@
 sys.path.append(os.path.dirname(os.path.abspath(__file__))
                 + "/../ReedsSheppPath")
 try:
-    from a_star_heuristic import dp_planning
+    from dynamic_programming_heuristic import calc_distance_heuristic
     import reeds_shepp_path_planning as rs
     from car import move, check_car_collision, MAX_STEER, WB, plot_car
 except Exception:
@@ -274,9 +274,9 @@ def hybrid_a_star_planning(start, goal, ox, oy, xy_resolution, yaw_resolution):
 
     openList, closedList = {}, {}
 
-    _, _, h_dp = dp_planning(start_node.x_list[-1], start_node.y_list[-1],
-                             goal_node.x_list[-1], goal_node.y_list[-1],
-                             ox, oy, xy_resolution, VR)
+    h_dp = calc_distance_heuristic(
+        goal_node.x_list[-1], goal_node.y_list[-1],
+        ox, oy, xy_resolution, VR)
 
     pq = []
     openList[calc_index(start_node, config)] = start_node