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fix typo at "calc_heristic" #15

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fix typo at "calc_heristic" #15

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1b80fd6
Update dijkstra.cpp
SalahEddineGhamri Mar 8, 2024
26a6719
Update a_star.cpp
SalahEddineGhamri Mar 8, 2024
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4 changes: 2 additions & 2 deletions src/a_star.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -92,7 +92,7 @@ bool verify_node(Node* node,
}


float calc_heristic(Node* n1, Node* n2, float w=1.0){
float calc_heuristic(Node* n1, Node* n2, float w=1.0){
return w * std::sqrt(std::pow(n1->x-n2->x, 2)+std::pow(n1->y-n2->y, 2));
}

Expand Down Expand Up @@ -202,7 +202,7 @@ void a_star_planning(float sx, float sy,
Node * new_node = new Node(
node->x + motion[i].x,
node->y + motion[i].y,
path_cost[node->x][node->y] + motion[i].sum_cost + calc_heristic(ngoal, node),
path_cost[node->x][node->y] + motion[i].sum_cost + calc_heuristic(ngoal, node),
node);

if (!verify_node(new_node, obmap, min_ox, max_ox, min_oy, max_oy)){
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3 changes: 0 additions & 3 deletions src/dijkstra.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -91,9 +91,6 @@ bool verify_node(Node* node,
}


float calc_heristic(Node n1, Node n2, float w=1.0){
return w * std::sqrt(std::pow(n1.x-n2.x, 2)+std::pow(n1.y-n2.y, 2));
}

std::vector<Node> get_motion_model(){
return {Node(1, 0, 1),
Expand Down