基本信息

---

下载

   友情提示：（无需注册或充值，赞助后即可获取资源下载链接）

---

     嘿，亲！知识可是无价之宝呢，但咱这精心整理的资料也耗费了不少心血呀。小小地破费一下，绝对物超所值哦！如有下载和支付问题，请联系我们QQ(微信同号)：813200300

本次赞助数额为： 2 元　

支付宝支付

微信支付

   源码介绍

---

def planning(self, sx, sy, gx, gy): """  A star path search   input:  s_x: start x position [m]  s_y: start y position [m]  gx: goal x position [m]  gy: goal y position [m]   output:  rx: x position list of the final path  ry: y position list of the final path  """   start_node = self.Node(self.calc_xy_index(sx, self.min_x), self.calc_xy_index(sy, self.min_y), 0.0, -1)
    goal_node = self.Node(self.calc_xy_index(gx, self.min_x), self.calc_xy_index(gy, self.min_y), 0.0, -1)
    open_set, closed_set = dict(), dict()
    open_set[self.calc_grid_index(start_node)] = start_node