fix d_star, #886 #898
fix d_star, #886 #898
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sorry for the typo, "not" - > "now" |
| @@ -103,7 +104,7 @@ def process_state(self): | |||
| if y.h <= k_old and x.h > y.h + x.cost(y): | |||
| x.parent = y | |||
| x.h = y.h + x.cost(y) | |||
| elif k_old == x.h: | |||
| if k_old == x.h: | |||
| for y in self.map.get_neighbors(x): | |||
| @@ -116,7 +117,7 @@ def process_state(self): | |||
| self.insert(y, x.h + x.cost(y)) | |||
| else: | |||
| if y.parent != x and y.h > x.h + x.cost(y): | |||
| self.insert(y, x.h) | |||
| self.insert(x, x.h) | |||
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Please see https://www.ri.cmu.edu/pub_files/pub3/stentz_anthony__tony__1994_2/stentz_anthony__tony__1994_2.pdf, page 11. Both changes are necessary, otherwise the program will stuck when new obstacles are added.
Also check out https://www.cs.cmu.edu/~motionplanning/lecture/AppH-astar-dstar_howie.pdf, page 51, I think the instructions on this page indicate the need to change elif to if.
So is this a correct modification？
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Hey there! So what about this PR? I think it is a bug if those two pdfs are correct. |
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Sorry. I’m very busy these days, please wait until I have time to review. |
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@XwLu @nirnayroy could you guys review this PR? |
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@AtsushiSakai @2892510130 I have checked the PR with my colleague @David-Randolph, both "elif -> if" and "y -> x" are bugs and necessary to fix. |
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@2892510130 Thank you for contribution and sorry for my late response |
fix D* bug, not it can handle the changed map. #886