From 997e8f8b27cd8d45d82b590bb767e2ffe372ed84 Mon Sep 17 00:00:00 2001
From: zhm-real <zhou.hm0420@gmail.com>
Date: Thu, 2 Jul 2020 11:45:25 -0700
Subject: [PATCH] update

---
 Search-based Planning/.idea/workspace.xml | 35 +++++++++++++++--------
 Search-based Planning/Search_2D/astar.py  | 22 +++++++++++---
 2 files changed, 41 insertions(+), 16 deletions(-)

diff --git a/Search-based Planning/.idea/workspace.xml b/Search-based Planning/.idea/workspace.xml
index b0e4f17..3e86ea3 100644
--- a/Search-based Planning/.idea/workspace.xml	
+++ b/Search-based Planning/.idea/workspace.xml	
@@ -19,10 +19,9 @@
     <select />
   </component>
   <component name="ChangeListManager">
-    <list default="true" id="025aff36-a6aa-4945-ab7e-b2c625055f47" name="Default Changelist" comment="">
+    <list default="true" id="025aff36-a6aa-4945-ab7e-b2c625055f47" name="Default Changelist" comment="Merge branch 'master' of https://github.com/zhm-real/path-planning-algorithms&#10;&#10;# Please enter a commit message to explain why this merge is necessary,&#10;# especially if it merges an updated upstream into a topic branch.&#10;#&#10;# Lines starting with '#' will be ignored, and an empty message aborts&#10;# the commit.">
       <change beforePath="$PROJECT_DIR$/.idea/workspace.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/workspace.xml" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/Search_2D/astar.py" beforeDir="false" afterPath="$PROJECT_DIR$/Search_2D/astar.py" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/Search_2D/plotting.py" beforeDir="false" afterPath="$PROJECT_DIR$/Search_2D/plotting.py" afterDir="false" />
     </list>
     <option name="SHOW_DIALOG" value="false" />
     <option name="HIGHLIGHT_CONFLICTS" value="true" />
@@ -216,6 +215,14 @@
       <option name="presentableId" value="Default" />
       <updated>1592347358698</updated>
     </task>
+    <task id="LOCAL-00001" summary="Merge branch 'master' of https://github.com/zhm-real/path-planning-algorithms&#10;&#10;# Please enter a commit message to explain why this merge is necessary,&#10;# especially if it merges an updated upstream into a topic branch.&#10;#&#10;# Lines starting with '#' will be ignored, and an empty message aborts&#10;# the commit.">
+      <created>1593715021929</created>
+      <option name="number" value="00001" />
+      <option name="presentableId" value="LOCAL-00001" />
+      <option name="project" value="LOCAL" />
+      <updated>1593715021929</updated>
+    </task>
+    <option name="localTasksCounter" value="2" />
     <servers />
   </component>
   <component name="Vcs.Log.Tabs.Properties">
@@ -230,6 +237,10 @@
     </option>
     <option name="oldMeFiltersMigrated" value="true" />
   </component>
+  <component name="VcsManagerConfiguration">
+    <MESSAGE value="Merge branch 'master' of https://github.com/zhm-real/path-planning-algorithms&#10;&#10;# Please enter a commit message to explain why this merge is necessary,&#10;# especially if it merges an updated upstream into a topic branch.&#10;#&#10;# Lines starting with '#' will be ignored, and an empty message aborts&#10;# the commit." />
+    <option name="LAST_COMMIT_MESSAGE" value="Merge branch 'master' of https://github.com/zhm-real/path-planning-algorithms&#10;&#10;# Please enter a commit message to explain why this merge is necessary,&#10;# especially if it merges an updated upstream into a topic branch.&#10;#&#10;# Lines starting with '#' will be ignored, and an empty message aborts&#10;# the commit." />
+  </component>
   <component name="WindowStateProjectService">
     <state x="2377" y="197" key="#com.intellij.execution.impl.EditConfigurationsDialog" timestamp="1593282711181">
       <screen x="1920" y="0" width="1920" height="1080" />
@@ -240,29 +251,29 @@
     </state>
     <state x="2700" y="297" width="424" height="482" key="FileChooserDialogImpl/65.24.1855.1056/1920.0.1920.1080@1920.0.1920.1080" timestamp="1593631602696" />
     <state x="819" y="314" key="FileChooserDialogImpl/65.24.1855.1056/1920.0.1920.1080@65.24.1855.1056" timestamp="1592933974409" />
-    <state width="1832" height="125" key="GridCell.Tab.0.bottom" timestamp="1593714671503">
+    <state width="1832" height="146" key="GridCell.Tab.0.bottom" timestamp="1593715356351">
       <screen x="1920" y="0" width="1920" height="1080" />
     </state>
-    <state width="1832" height="125" key="GridCell.Tab.0.bottom/65.24.1855.1056/1920.0.1920.1080@1920.0.1920.1080" timestamp="1593714671503" />
-    <state width="1832" height="125" key="GridCell.Tab.0.center" timestamp="1593714671503">
+    <state width="1832" height="146" key="GridCell.Tab.0.bottom/65.24.1855.1056/1920.0.1920.1080@1920.0.1920.1080" timestamp="1593715356351" />
+    <state width="1832" height="146" key="GridCell.Tab.0.center" timestamp="1593715356351">
       <screen x="1920" y="0" width="1920" height="1080" />
     </state>
-    <state width="1832" height="125" key="GridCell.Tab.0.center/65.24.1855.1056/1920.0.1920.1080@1920.0.1920.1080" timestamp="1593714671503" />
-    <state width="1832" height="125" key="GridCell.Tab.0.left" timestamp="1593714671503">
+    <state width="1832" height="146" key="GridCell.Tab.0.center/65.24.1855.1056/1920.0.1920.1080@1920.0.1920.1080" timestamp="1593715356351" />
+    <state width="1832" height="146" key="GridCell.Tab.0.left" timestamp="1593715356351">
       <screen x="1920" y="0" width="1920" height="1080" />
     </state>
-    <state width="1832" height="125" key="GridCell.Tab.0.left/65.24.1855.1056/1920.0.1920.1080@1920.0.1920.1080" timestamp="1593714671503" />
-    <state width="1832" height="125" key="GridCell.Tab.0.right" timestamp="1593714671503">
+    <state width="1832" height="146" key="GridCell.Tab.0.left/65.24.1855.1056/1920.0.1920.1080@1920.0.1920.1080" timestamp="1593715356351" />
+    <state width="1832" height="146" key="GridCell.Tab.0.right" timestamp="1593715356351">
       <screen x="1920" y="0" width="1920" height="1080" />
     </state>
-    <state width="1832" height="125" key="GridCell.Tab.0.right/65.24.1855.1056/1920.0.1920.1080@1920.0.1920.1080" timestamp="1593714671503" />
+    <state width="1832" height="146" key="GridCell.Tab.0.right/65.24.1855.1056/1920.0.1920.1080@1920.0.1920.1080" timestamp="1593715356351" />
     <state x="2406" y="174" key="SettingsEditor" timestamp="1593282573348">
       <screen x="1920" y="0" width="1920" height="1080" />
     </state>
     <state x="2406" y="174" key="SettingsEditor/65.24.1855.1056/1920.0.1920.1080@1920.0.1920.1080" timestamp="1593282573348" />
-    <state x="2701" y="438" key="com.intellij.openapi.vcs.update.UpdateOrStatusOptionsDialogupdate-v2" timestamp="1593242832142">
+    <state x="2701" y="438" key="com.intellij.openapi.vcs.update.UpdateOrStatusOptionsDialogupdate-v2" timestamp="1593715195096">
       <screen x="1920" y="0" width="1920" height="1080" />
     </state>
-    <state x="2701" y="438" key="com.intellij.openapi.vcs.update.UpdateOrStatusOptionsDialogupdate-v2/65.24.1855.1056/1920.0.1920.1080@1920.0.1920.1080" timestamp="1593242832142" />
+    <state x="2701" y="438" key="com.intellij.openapi.vcs.update.UpdateOrStatusOptionsDialogupdate-v2/65.24.1855.1056/1920.0.1920.1080@1920.0.1920.1080" timestamp="1593715195096" />
   </component>
 </project>
\ No newline at end of file
diff --git a/Search-based Planning/Search_2D/astar.py b/Search-based Planning/Search_2D/astar.py
index 792e58a..a773fd7 100644
--- a/Search-based Planning/Search_2D/astar.py	
+++ b/Search-based Planning/Search_2D/astar.py	
@@ -56,18 +56,32 @@ class Astar:
 
         return self.extract_path(self.PARENT), self.CLOSED
 
-    def repeated_searching(self, e):
+    def repeated_astar(self, e):
+        """
+        repeated a*.
+        :param e: weight of a*
+        :return: path and visited order
+        """
+
         path, visited = [], []
 
         while e >= 1:
-            p_k, v_k = self.repeated_Astar(self.s_start, self.s_goal, e)
+            p_k, v_k = self.repeated_searching(self.s_start, self.s_goal, e)
             path.append(p_k)
             visited.append(v_k)
             e -= 0.5
 
         return path, visited
 
-    def repeated_Astar(self, s_start, s_goal, e):
+    def repeated_searching(self, s_start, s_goal, e):
+        """
+        run a* with weight e.
+        :param s_start: starting state
+        :param s_goal: goal state
+        :param e: weight of a*
+        :return: path and visited order.
+        """
+
         g = {s_start: 0, s_goal: float("inf")}
         OPEN = queue.QueuePrior()
         OPEN.put(s_start, g[s_start] + e * self.Heuristic(s_start))
@@ -174,7 +188,7 @@ def main():
     path, visited = astar.searching()
     plot.animation(path, visited, "A*")                         # animation
 
-    # path, visited = astar.repeated_searching(2.5)               # initial weight e = 2.5
+    # path, visited = astar.repeated_astar(2.5)               # initial weight e = 2.5
     # plot.animation_ara_star(path, visited, "Repeated A*")