DNode¶
python_motion_planning.global_planner.graph_search.d_star.DNode
¶
Bases: Node
Class for D* nodes.
Parameters:
| Name | Type | Description | Default |
|---|---|---|---|
current
|
tuple
|
current coordinate |
required |
parent
|
tuple
|
coordinate of parent node |
required |
t
|
str
|
state of node, including |
required |
h
|
float
|
cost from goal to current node |
required |
k
|
float
|
minimum cost from goal to current node in history |
required |