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Update Bidirectional_a_star.py

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zhm-real
2020-08-05 12:55:17 -07:00
parent 5c2aa2f334
commit 9c1f680dbf
1 changed files with 0 additions and 3 deletions
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Search_based_Planning/Search_2D/Bidirectional_a_star.py
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@@ -25,9 +25,6 @@ class BidirectionalAStar:
self.u_set = self.Env.motions # feasible input set self.u_set = self.Env.motions # feasible input set
self.obs = self.Env.obs # position of obstacles self.obs = self.Env.obs # position of obstacles
self.g_fore = {self.s_start: 0, self.s_goal: float("inf")} # Cost to come: from x_init
self.g_back = {self.s_goal: 0, self.s_start: float("inf")} # Cost to come: form x_goal
self.OPEN_fore = [] # OPEN set for forward searching self.OPEN_fore = [] # OPEN set for forward searching
self.OPEN_back = [] # OPEN set for backward searching self.OPEN_back = [] # OPEN set for backward searching
self.CLOSED_fore = [] # CLOSED set for forward self.CLOSED_fore = [] # CLOSED set for forward