Update breadth_first_search.py (AtsushiSakai#374)

Author: yashvarshney003

PathPlanning/BreadthFirstSearch/breadth_first_search.py

@@ -33,16 +33,16 @@ def __init__(self, ox, oy, reso, rr):
         self.motion = self.get_motion_model()
 
     class Node:
-        def __init__(self, x, y, cost, pind, parent):
+        def __init__(self, x, y, cost, parent_index, parent):
             self.x = x  # index of grid
             self.y = y  # index of grid
             self.cost = cost
-            self.pind = pind
+            self.parent_index = parent_index
             self.parent = parent
 
         def __str__(self):
             return str(self.x) + "," + str(self.y) + "," + str(
-                self.cost) + "," + str(self.pind)
+                self.cost) + "," + str(self.parent_index)
 
     def planning(self, sx, sy, gx, gy):
         """
@@ -92,7 +92,7 @@ def planning(self, sx, sy, gx, gy):
 
             if current.x == ngoal.x and current.y == ngoal.y:
                 print("Find goal")
-                ngoal.pind = current.pind
+                ngoal.parent_index = current.parent_index
                 ngoal.cost = current.cost
                 break
 

PathPlanning/DepthFirstSearch/depth_first_search.py

@@ -33,16 +33,16 @@ def __init__(self, ox, oy, reso, rr):
         self.motion = self.get_motion_model()
 
     class Node:
-        def __init__(self, x, y, cost, pind, parent):
+        def __init__(self, x, y, cost, parent_index, parent):
             self.x = x  # index of grid
             self.y = y  # index of grid
             self.cost = cost
-            self.pind = pind
+            self.parent_index = parent_index
             self.parent = parent
 
         def __str__(self):
             return str(self.x) + "," + str(self.y) + "," + str(
-                self.cost) + "," + str(self.pind)
+                self.cost) + "," + str(self.parent_index)
 
     def planning(self, sx, sy, gx, gy):
         """
@@ -88,7 +88,7 @@ def planning(self, sx, sy, gx, gy):
 
             if current.x == ngoal.x and current.y == ngoal.y:
                 print("Find goal")
-                ngoal.pind = current.pind
+                ngoal.parent_index = current.parent_index
                 ngoal.cost = current.cost
                 break
 

PathPlanning/Dijkstra/dijkstra.py

@@ -38,15 +38,15 @@ def __init__(self, ox, oy, resolution, robot_radius):
         self.motion = self.get_motion_model()
 
     class Node:
-        def __init__(self, x, y, cost, parent):
+        def __init__(self, x, y, cost, parent_index):
             self.x = x  # index of grid
             self.y = y  # index of grid
             self.cost = cost
-            self.parent = parent  # index of previous Node
+            self.parent_index = parent_index  # index of previous Node
 
         def __str__(self):
             return str(self.x) + "," + str(self.y) + "," + str(
-                self.cost) + "," + str(self.parent)
+                self.cost) + "," + str(self.parent_index)
 
     def planning(self, sx, sy, gx, gy):
         """
@@ -88,7 +88,7 @@ def planning(self, sx, sy, gx, gy):
 
             if current.x == goal_node.x and current.y == goal_node.y:
                 print("Find goal")
-                goal_node.parent = current.parent
+                goal_node.parent_index = current.parent_index
                 goal_node.cost = current.cost
                 break
 
@@ -126,12 +126,12 @@ def calc_final_path(self, goal_node, closed_set):
         # generate final course
         rx, ry = [self.calc_position(goal_node.x, self.min_x)], [
             self.calc_position(goal_node.y, self.min_y)]
-        parent = goal_node.parent
-        while parent != -1:
-            n = closed_set[parent]
+        parent_index = goal_node.parent_index
+        while parent_index != -1:
+            n = closed_set[parent_index]
             rx.append(self.calc_position(n.x, self.min_x))
             ry.append(self.calc_position(n.y, self.min_y))
-            parent = n.parent
+            parent_index = n.parent_index
 
         return rx, ry
 

README.md

@@ -124,6 +124,8 @@ All animation gifs are stored here: [AtsushiSakai/PythonRoboticsGifs: Animation
 2. Install the required libraries. You can use environment.yml with conda command.
 
 > conda env create -f environment.yml
+> using pip :-
+         pip install -r requirements.txt
 
 
 3. Execute python script in each directory.

tests/test_breadth_first_search.py

@@ -0,0 +1,26 @@
+from unittest import TestCase
+import sys
+import os
+sys.path.append(os.path.dirname(os.path.abspath(__file__)) +
+                "/../PathPlanning/BreadthFirstSearch/")
+
+
+try:
+    import breadth_first_search as m
+except ImportError:
+    raise
+
+
+print(__file__)
+
+
+class Test(TestCase):
+
+    def test1(self):
+        m.show_animation = False
+        m.main()
+
+
+if __name__ == '__main__':  # pragma: no cover
+    test = Test()
+    test.test1()

tests/test_depth_first_search.py

@@ -0,0 +1,26 @@
+from unittest import TestCase
+import sys
+import os
+sys.path.append(os.path.dirname(os.path.abspath(__file__)) +
+                "/../PathPlanning/DepthFirstSearch/")
+
+
+try:
+    import depth_first_search as m
+except ImportError:
+    raise
+
+
+print(__file__)
+
+
+class Test(TestCase):
+
+    def test1(self):
+        m.show_animation = False
+        m.main()
+
+
+if __name__ == '__main__':  # pragma: no cover
+    test = Test()
+    test.test1()

tests/test_dijkstra.py

@@ -1,6 +1,15 @@
 from unittest import TestCase
+import sys
+import os
+sys.path.append(os.path.dirname(os.path.abspath(__file__)) +
+                "/../PathPlanning/Dijkstra/")
+
+
+try:
+    import dijkstra as m
+except ImportError:
+    raise
 
-from PathPlanning.Dijkstra import dijkstra as m
 
 print(__file__)
 
@@ -10,3 +19,8 @@ class Test(TestCase):
     def test1(self):
         m.show_animation = False
         m.main()
+
+
+if __name__ == '__main__':  # pragma: no cover
+    test = Test()
+    test.test1()