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anyD_done

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This commit is contained in:
yue qi
2020-07-25 01:16:15 -07:00
parent aaba8e355c
commit 525317ebf3
1 changed files with 9 additions and 5 deletions
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Search-based Planning/Search_3D/Anytime_Dstar3D.py
+9 -5
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@@ -157,21 +157,25 @@ class Anytime_Dstar(object):
t = 0
self.ComputeorImprovePath()
#TODO publish current epsilon sub-optimal solution
self.done = True
self.ind = 0
self.Path = self.path()
visualization(self)
while True:
print(t)
print(self.Path)
if t == 5:
visualization(self)
if t == 20:
break
# change environment
new2,old2 = self.env.move_block(theta = [0,0,0.1*t], mode='rotation')
# new2,old2 = self.env.move_block(theta = [0,0,0.1*t], mode='rotation')
new2,old2 = self.env.move_block(a = [0,0,-0.2], mode='translation')
ischanged = True
# islargelychanged = True
self.Path = []
# update cost with changed environment
if ischanged:
CHANGED = self.updatecost(True, new2, old2, mode='obb')
# CHANGED = self.updatecost(True, new2, old2, mode='obb')
CHANGED = self.updatecost(True, new2, old2)
for u in CHANGED:
self.UpdateState(u)
self.ComputeorImprovePath()