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zhm-real
2020-08-10 12:22:06 -07:00
parent b1ccf848b4
commit 7bcd3f24a6
11 changed files with 131 additions and 120 deletions
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Search_based_Planning/Search_2D/dfs.py
+6 -6
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@@ -21,12 +21,12 @@ class DFS:
self.Env = env.Env()
self.plotting = plotting.Plotting(self.s_start, self.s_goal)
self.u_set = self.Env.motions # feasible input set
self.obs = self.Env.obs # position of obstacles
self.u_set = self.Env.motions # feasible input set
self.obs = self.Env.obs # position of obstacles
self.OPEN = deque() # OPEN set: visited nodes
self.PARENT = dict() # recorded parent
self.CLOSED = [] # CLOSED set / visited order
self.OPEN = deque() # OPEN set: visited nodes
self.PARENT = dict() # recorded parent
self.CLOSED = [] # CLOSED set / visited order
def searching(self):
"""
@@ -47,7 +47,7 @@ class DFS:
for s_n in self.get_neighbor(s):
if self.is_collision(s, s_n):
continue
if s_n not in self.PARENT: # node not explored
if s_n not in self.PARENT: # node not explored
self.OPEN.append(s_n)
self.PARENT[s_n] = s