From 979dfd64d0e3dd4f4af74923f825c369c90b86aa Mon Sep 17 00:00:00 2001
From: parmaski <89462537+parmaski@users.noreply.github.com>
Date: Sun, 8 Dec 2024 07:50:08 +0000
Subject: [PATCH] fix behavior when path is not found

---
 PathPlanning/HybridAStar/car.py           | 2 +-
 PathPlanning/HybridAStar/hybrid_a_star.py | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/PathPlanning/HybridAStar/car.py b/PathPlanning/HybridAStar/car.py
index d7631133c7..959db74078 100644
--- a/PathPlanning/HybridAStar/car.py
+++ b/PathPlanning/HybridAStar/car.py
@@ -97,7 +97,7 @@ def pi_2_pi(angle):
 def move(x, y, yaw, distance, steer, L=WB):
     x += distance * cos(yaw)
     y += distance * sin(yaw)
-    yaw += pi_2_pi(distance * tan(steer) / L)  # distance/2
+    yaw = pi_2_pi(yaw + distance * tan(steer) / L)  # distance/2
 
     return x, y, yaw
 
diff --git a/PathPlanning/HybridAStar/hybrid_a_star.py b/PathPlanning/HybridAStar/hybrid_a_star.py
index 03db0dc167..cb4859df93 100644
--- a/PathPlanning/HybridAStar/hybrid_a_star.py
+++ b/PathPlanning/HybridAStar/hybrid_a_star.py
@@ -281,7 +281,7 @@ def hybrid_a_star_planning(start, goal, ox, oy, xy_resolution, yaw_resolution):
     while True:
         if not openList:
             print("Error: Cannot find path, No open set")
-            return [], [], []
+            return Path([], [], [], [], 0)
 
         cost, c_id = heapq.heappop(pq)
         if c_id in openList: