New A star algorithm pr #391

weicent · 2020-09-01T13:57:54Z

rewrite A star algorithm, improved efficiency by searching the path from two side simultaneously (i.e. from start to goal + from goal to start)
generate obstacles map randomly, the number of obstacle is adjustable

Find a path:

No path to the goal, indicate the boundary confine robot or goal:

codecov · 2020-09-01T14:59:30Z

Codecov Report

Merging #391 into master will decrease coverage by 0.07%.
The diff coverage is 86.86%.

@@            Coverage Diff             @@
##           master     #391      +/-   ##
==========================================
- Coverage   89.79%   89.72%   -0.08%     
==========================================
  Files         127      129       +2     
  Lines        9186     9422     +236     
==========================================
+ Hits         8249     8454     +205     
- Misses        937      968      +31

Impacted Files	Coverage Δ
tests/test_a_star_searching_two_side.py	`73.68% <73.68%> (ø)`
...thPlanning/AStar/A_Star_searching_from_two_side.py	`88.01% <88.01%> (ø)`

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AtsushiSakai · 2020-09-02T23:37:06Z

Thank you for PR. Before review, could you please add a test file for your code?

weicent · 2020-09-03T17:49:55Z

Thank you for PR. Before review, could you please add a test file for your code?

Hi Atsushi, thanks for your reply. may I ask what is 'test file'? I'm a newbie in github, it will be helpful if you can give me some hint, thanks in advance!

sarimmehdi · 2020-09-03T18:30:43Z

@weicent use this as reference: https://github.com/AtsushiSakai/PythonRobotics/blob/master/tests/test_a_star.py

weicent · 2020-09-04T08:07:19Z

@weicent use this as reference: https://github.com/AtsushiSakai/PythonRobotics/blob/master/tests/test_a_star.py

Thanks for let me know this, it helps a lot! The test file is added now!

lgtm-com · 2020-09-04T08:44:11Z

This pull request introduces 1 alert when merging eaf5833 into 46bdd2a - view on LGTM.com

new alerts:

1 for Variable defined multiple times

weicent · 2020-09-04T11:27:17Z

Hi Atsushi, i'm sorry for bother you with so much commits.

It seems that i was trapped with the CI test (together with the dwa_pr, this is my first time to create pull request in github), sorry for the inconvenience for you.

Could you please give me some hint for how to fix the issue? the codecov/patch just indicate some lines are not covered in the test and i don't kown what to do with it.

Thank you in advance.

AtsushiSakai · 2020-09-04T11:38:53Z

@sarimmehdi Thank you for your support : ).

@weicent Thank you for your hard work. No problem, you can ignore the code cov error, because you added a new file.
Let's start reviewing DWA PR first. After that I will check this PR. Thanks again.

AtsushiSakai · 2020-09-13T02:19:49Z

@weicent Hi. Before code review, could you please merger master code to this PR branch?

weicent · 2020-09-13T06:59:28Z

@AtsushiSakai Hi, i have made the rebase for the branch, please consider my pr, thanks in advance!

AtsushiSakai

Thank you for again. I have some comments. PTAL.

AtsushiSakai · 2020-09-14T12:31:28Z

PathPlanning/AStar/A_Star_searching_from_two_side.py

+        self.parent = parent
+        self.coordinate = coordinate
+
+    def setg(self, value):


I think these setter functions are not needed for understanding algorithm. You can just access these fields.

PathPlanning/AStar/A_Star_searching_from_two_side.py

AtsushiSakai · 2020-09-14T12:35:56Z

PathPlanning/AStar/A_Star_searching_from_two_side.py

+    return boundary
+
+
+def border_line(closed, obs):


get_border_line is better?

AtsushiSakai · 2020-09-14T12:36:21Z

PathPlanning/AStar/A_Star_searching_from_two_side.py

+    plt.pause(0.0001)
+
+
+def node_to_coor(node_list):


node_to_coordinate is better?

AtsushiSakai · 2020-09-14T12:38:49Z

PathPlanning/AStar/A_Star_searching_from_two_side.py

@@ -0,0 +1,348 @@
+'''


Could you please change all ''' to """ ?

AtsushiSakai · 2020-09-14T12:41:51Z

PathPlanning/AStar/A_Star_searching_from_two_side.py

+                # convert node list into coordinate list and array
+                goa_cor_list, goa_cor_array = node_to_coor(goal_close)
+
+                if goal_open == []:  # no path condition


Same upper comment.

AtsushiSakai · 2020-09-14T12:42:19Z

PathPlanning/AStar/A_Star_searching_from_two_side.py

+                og_intersect = \
+                    [coor for coor in org_cor_list if coor in goa_cor_list]
+
+                if og_intersect != []:  # a path is find, og_intersect!=[]


same upper comment.

AtsushiSakai · 2020-09-14T12:42:51Z

PathPlanning/AStar/A_Star_searching_from_two_side.py

+        except Break as success:
+            success.print_info()
+    except NoPath as fail:
+        if origin_open == []:


same upper comment.

AtsushiSakai · 2020-09-14T12:43:08Z

PathPlanning/AStar/A_Star_searching_from_two_side.py

+        else:
+            # else goal confined, find border for goal
+            border = border_line(goa_cor_list, obst)
+        if org_cor_list == []:


same upper comment.

AtsushiSakai · 2020-09-14T12:43:14Z

PathPlanning/AStar/A_Star_searching_from_two_side.py

+            # and search ended with close_list=[]
+            org_cor_list.append(start)
+            org_cor_array = np.array(org_cor_list)
+        if goa_cor_list == []:


same upper comment.

weicent · 2020-09-15T16:48:33Z

@AtsushiSakai Thanks for your patient reply! I have modified the code as your suggestion! Please let me know if you have any further comments!

AtsushiSakai

Thank you for again. This is the last review. PTAL.

AtsushiSakai · 2020-09-18T12:45:02Z

PathPlanning/AStar/A_Star_searching_from_two_side.py

+            if show_animation:  # draw the path
+                plt.plot(path[:, 0], path[:, 1], '-r')
+                plt.title('Robot Arrived', size=20, loc='center')
+                plt.show()


Could you please add plt.pause(0.01) before plt.show()? In my environment, the final red line does not show without it.

AtsushiSakai · 2020-09-18T12:47:17Z

PathPlanning/AStar/A_Star_searching_from_two_side.py

+    return stop_loop
+
+
+def searching_control(start, end, bound, obstacle):


Can you make this function to return x and y position lists of the final path?

Thanks for your suggestion! its a good idea to return path coordinate list in searching control. I have modified as you suggested, the main() function will print path list if show_animation == False now.
Thanks again for your patient review!

AtsushiSakai

LGTM. Thank you for great PR!!.

weicent added 14 commits September 13, 2020 14:09

a star pr

c3b2d03

a star pr

5b3bf3f

a star pr

792e452

fix line excede 79 error

69c2e97

fix pycodestyle errors, missing a whitespace

ab32b46

add test file

30dd2b0

add test file

21b8b41

rerun CI

5c808f1

rerun CI

334a9c2

rerun CI

2957f84

rerun CI

caafbed

rerun CI

bd4f28e

modified test file and rerun CI

08cdbc9

rerun CI

070cec7

weicent force-pushed the a_star_pr branch from d6fa7ec to 070cec7 Compare September 13, 2020 06:13

fix CI error

b4f49c5

AtsushiSakai requested changes Sep 14, 2020

View reviewed changes

modified code resubmit pr

3b128c6

fixed some minor error

93ecb61

weicent requested a review from AtsushiSakai September 17, 2020 14:29

AtsushiSakai requested changes Sep 18, 2020

View reviewed changes

modified pr as suggested

417271e

AtsushiSakai approved these changes Sep 20, 2020

View reviewed changes

AtsushiSakai merged commit 43ab313 into AtsushiSakai:master Sep 20, 2020

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New A star algorithm pr #391

New A star algorithm pr #391

weicent commented Sep 1, 2020 •

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		return stop_loop


		def searching_control(start, end, bound, obstacle):

New A star algorithm pr #391

New A star algorithm pr #391

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weicent commented Sep 1, 2020 • edited

codecov bot commented Sep 1, 2020 • edited

Codecov Report

AtsushiSakai commented Sep 2, 2020

weicent commented Sep 3, 2020

sarimmehdi commented Sep 3, 2020

weicent commented Sep 4, 2020

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weicent commented Sep 4, 2020

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weicent commented Sep 15, 2020

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weicent commented Sep 1, 2020 •

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codecov bot commented Sep 1, 2020 •

edited