DNode

src.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 NEW OPEN and CLOSED	required
h	float	cost from goal to current node	required
k	float	minimum cost from goal to current node in history	required

Source code in src\python_motion_planning\global_planner\graph_search\d_star.py

Python

class DNode(Node):
    """
    Class for D* nodes.

    Parameters:
        current (tuple): current coordinate
        parent (tuple): coordinate of parent node
        t (str): state of node, including `NEW` `OPEN` and `CLOSED`
        h (float): cost from goal to current node
        k (float): minimum cost from goal to current node in history
    """
    def __init__(self, current: tuple, parent: tuple, t: str, h: float, k: float) -> None:
        self.current = current
        self.parent = parent
        self.t = t
        self.h = h
        self.k = k

    def __add__(self, node):
        return DNode((self.x + node.x, self.y + node.y), 
                     self.parent, self.t, self.h + node.h, self.k)

    def __str__(self) -> str:
        return "----------\ncurrent:{}\nparent:{}\nt:{}\nh:{}\nk:{}\n----------" \
            .format(self.current, self.parent, self.t, self.h, self.k)