modelec/modelec-marcel-ROS
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refactoring

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This commit is contained in:
acki
2025-05-15 15:50:34 -04:00
parent d4faf75b4a
commit 6a50695dcc
1 changed files with 4 additions and 4 deletions
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8
src/modelec_strat/src/pathfinding.cpp
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@@ -19,7 +19,7 @@ namespace Modelec
}
};
double heuristic(int x1, int y1, int x2, int y2)
double Heuristic(int x1, int y1, int x2, int y2)
{
return std::hypot(x1 - x2, y1 - y2); // Euclidean distance
}
@@ -340,7 +340,7 @@ namespace Modelec
AStarNode start_node{start_x, start_y};
start_node.g = 0;
start_node.f = heuristic(start_x, start_y, goal_x, goal_y);
start_node.f = Heuristic(start_x, start_y, goal_x, goal_y);
open_list.push(start_node);
all_nodes[hash(start_x, start_y)] = start_node;
@@ -366,7 +366,7 @@ namespace Modelec
if (!TestCollision(nx, ny, collisionMask))
continue;
double tentative_g = current.g + heuristic(current.x, current.y, nx, ny);
double tentative_g = current.g + Heuristic(current.x, current.y, nx, ny);
int64_t neighbor_hash = hash(nx, ny);
if (all_nodes.find(neighbor_hash) == all_nodes.end() || tentative_g < all_nodes[neighbor_hash].g)
@@ -375,7 +375,7 @@ namespace Modelec
neighbor.x = nx;
neighbor.y = ny;
neighbor.g = tentative_g;
neighbor.f = tentative_g + heuristic(nx, ny, goal_x, goal_y);
neighbor.f = tentative_g + Heuristic(nx, ny, goal_x, goal_y);
neighbor.parent_x = current.x;
neighbor.parent_y = current.y;
all_nodes[neighbor_hash] = neighbor;