Update greedy_best_first_search - calc_final_path method (AtsushiSakai#477)

* Update greedy_best_first_search.py

parent_index should be pind. other wise it cann't work

* add breadth first search test

* Add greedy best first search test

Author: FXCarl

PathPlanning/GreedyBestFirstSearch/greedy_best_first_search.py

@@ -132,7 +132,7 @@ def calc_final_path(self, ngoal, closedset):
         # generate final course
         rx, ry = [self.calc_grid_position(ngoal.x, self.minx)], [
             self.calc_grid_position(ngoal.y, self.miny)]
-        n = closedset[ngoal.parent_index]
+        n = closedset[ngoal.pind]
         while n is not None:
             rx.append(self.calc_grid_position(n.x, self.minx))
             ry.append(self.calc_grid_position(n.y, self.miny))

tests/test_breadth_first_search.py

@@ -1,11 +1,11 @@
-import conftest
-from PathPlanning.BreadthFirstSearch import breadth_first_search as m
-
-
-def test_1():
-    m.show_animation = False
-    m.main()
-
-
-if __name__ == '__main__':
-    conftest.run_this_test(__file__)
+import conftest
+from PathPlanning.BreadthFirstSearch import breadth_first_search as m
+
+
+def test_1():
+    m.show_animation = False
+    m.main()
+
+
+if __name__ == '__main__':
+    conftest.run_this_test(__file__)

tests/test_greedy_best_first_search.py

@@ -0,0 +1,11 @@
+import conftest
+from PathPlanning.GreedyBestFirstSearch import greedy_best_first_search as m
+
+
+def test_1():
+    m.show_animation = False
+    m.main()
+
+
+if __name__ == '__main__':
+    conftest.run_this_test(__file__)