address comments

Author: SchwartzCode

PathPlanning/TimeBasedPathPlanning/SpaceTimeAStar.py

@@ -82,7 +82,7 @@ def __repr__(self):
         return repr_string
 
 
-class TimeBasedAStar:
+class SpaceTimeAStar:
     grid: Grid
     start: Position
     goal: Position
@@ -113,11 +113,11 @@ def plan(self, verbose: bool = False) -> NodePath:
                 print(f"Found path to goal after {len(expanded_set)} expansions")
                 path = []
                 path_walker: Node = expanded_node
-                while path_walker.parent_index != -1:
+                while True:
                     path.append(path_walker)
+                    if path_walker.parent_index == -1:
+                        break
                     path_walker = expanded_set[path_walker.parent_index]
-                # TODO: fix hack around bad while condiiotn
-                path.append(path_walker)
 
                 # reverse path so it goes start -> goal
                 path.reverse()
@@ -176,7 +176,7 @@ def main():
         obstacle_arrangement=ObstacleArrangement.ARRANGEMENT1,
     )
 
-    planner = TimeBasedAStar(grid, start, goal)
+    planner = SpaceTimeAStar(grid, start, goal)
     path = planner.plan(verbose)
 
     if verbose:

docs/conf.py

@@ -94,9 +94,9 @@
 # documentation.
 #
 html_logo = '../icon.png'
-# html_theme_options = {
-#     'display_version': False,
-# }
+html_theme_options = {
+    'display_version': False,
+}
 
 # replace "view page source" with "edit on github" in Read The Docs theme
 #  * https://github.com/readthedocs/sphinx_rtd_theme/issues/529

docs/modules/5_path_planning/path_planning_main.rst

@@ -12,6 +12,7 @@ Path planning is the ability of a robot to search feasible and efficient path to
    dynamic_window_approach/dynamic_window_approach
    bugplanner/bugplanner
    grid_base_search/grid_base_search
+   time_based_grid_search/time_based_grid_search
    model_predictive_trajectory_generator/model_predictive_trajectory_generator
    state_lattice_planner/state_lattice_planner
    prm_planner/prm_planner
@@ -31,5 +32,4 @@ Path planning is the ability of a robot to search feasible and efficient path to
    hybridastar/hybridastar
    frenet_frame_path/frenet_frame_path
    coverage_path/coverage_path
-   elastic_bands/elastic_bands
-   time_based_grid_search/time_based_grid_search
+   elastic_bands/elastic_bands

tests/test_space_time_astar.py

@@ -18,7 +18,7 @@ def test_1():
     )
 
     m.show_animation = False
-    planner = m.TimeBasedAStar(grid, start, goal)
+    planner = m.SpaceTimeAStar(grid, start, goal)
 
     path = planner.plan(False)