Merge branch 'AtsushiSakai:master' into angle_mod

.github/workflows/codeql.yml

@@ -24,7 +24,7 @@ jobs:
 
     # Initializes the CodeQL tools for scanning.
     - name: Initialize CodeQL
-      uses: github/codeql-action/init@v2
+      uses: github/codeql-action/init@v3
       with:
         config-file: ./.github/codeql/codeql-config.yml
       # Override language selection by uncommenting this and choosing your languages
@@ -34,7 +34,7 @@ jobs:
     # Autobuild attempts to build any compiled languages  (C/C++, C#, or Java).
     # If this step fails, then you should remove it and run the build manually (see below)
     - name: Autobuild
-      uses: github/codeql-action/autobuild@v2
+      uses: github/codeql-action/autobuild@v3
 
     # ℹ️ Command-line programs to run using the OS shell.
     # 📚 https://git.io/JvXDl
@@ -48,4 +48,4 @@ jobs:
     #   make release
 
     - name: Perform CodeQL Analysis
-      uses: github/codeql-action/analyze@v2
+      uses: github/codeql-action/analyze@v3

PathPlanning/DStar/dstar.py

@@ -9,6 +9,7 @@
 """
 import math
 
+
 from sys import maxsize
 
 import matplotlib.pyplot as plt
@@ -103,7 +104,7 @@ def process_state(self):
                 if y.h <= k_old and x.h > y.h + x.cost(y):
                     x.parent = y
                     x.h = y.h + x.cost(y)
-        elif k_old == x.h:
+        if k_old == x.h:
             for y in self.map.get_neighbors(x):
                 if y.t == "new" or y.parent == x and y.h != x.h + x.cost(y) \
                         or y.parent != x and y.h > x.h + x.cost(y):
@@ -116,7 +117,7 @@ def process_state(self):
                     self.insert(y, x.h + x.cost(y))
                 else:
                     if y.parent != x and y.h > x.h + x.cost(y):
-                        self.insert(y, x.h)
+                        self.insert(x, x.h)
                     else:
                         if y.parent != x and x.h > y.h + x.cost(y) \
                                 and y.t == "close" and y.h > k_old:
@@ -173,6 +174,8 @@ def run(self, start, end):
         s.set_state("e")
         tmp = start
 
+        AddNewObstacle(self.map) # add new obstacle after the first search finished
+
         while tmp != end:
             tmp.set_state("*")
             rx.append(tmp.x)
@@ -195,6 +198,15 @@ def modify(self, state):
             if k_min >= state.h:
                 break
 
+def AddNewObstacle(map:Map):
+    ox, oy = [], []
+    for i in range(5, 21):
+        ox.append(i)
+        oy.append(40)
+    map.set_obstacle([(i, j) for i, j in zip(ox, oy)])
+    if show_animation:
+        plt.pause(0.001)
+        plt.plot(ox, oy, ".g")
 
 def main():
     m = Map(100, 100)
@@ -217,7 +229,6 @@ def main():
     for i in range(0, 40):
         ox.append(40)
         oy.append(60 - i)
-    print([(i, j) for i, j in zip(ox, oy)])
     m.set_obstacle([(i, j) for i, j in zip(ox, oy)])
 
     start = [10, 10]

PathPlanning/HybridAStar/car.py

@@ -59,9 +59,9 @@ def rectangle_check(x, y, yaw, ox, oy):
         rx, ry = converted_xy[0], converted_xy[1]
 
         if not (rx > LF or rx < -LB or ry > W / 2.0 or ry < -W / 2.0):
-            return False  # no collision
+            return False  # collision
 
-    return True  # collision
+    return True  # no collision
 
 
 def plot_arrow(x, y, yaw, length=1.0, width=0.5, fc="r", ec="k"):

requirements/requirements.txt

@@ -4,5 +4,5 @@ matplotlib == 3.8.2
 cvxpy == 1.4.1
 pytest == 7.4.3 # For unit test
 pytest-xdist == 3.5.0 # For unit test
-mypy == 1.7.1 # For unit test
-ruff == 0.1.7 # For unit test
+mypy == 1.8.0 # For unit test
+ruff == 0.1.9 # For unit test