Multi_Objectives_AStar implementation #1158
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AtsushiSakai
requested changes
Feb 15, 2025
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Thank you. Is it possible to add unit tests and documentations based on this document? @JanLucaF
https://atsushisakai.github.io/PythonRobotics/modules/0_getting_started/3_how_to_contribute.html#adding-a-new-algorithm-example
![github-advanced-security[bot]](https://avatars.githubusercontent.com/in/57789?s=60&v=4){kind=small}
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| # Calculate the dot product of the two vectors | ||
| dot_product = prev_dx * current_dx + prev_dy * current_dy | ||
| prev_length = math.sqrt(prev_dx ** 2 + prev_dy ** 2) |
Check warning
Code scanning / CodeQL
Pythagorean calculation with sub-optimal numerics Warning
| # Calculate the dot product of the two vectors | ||
| dot_product = prev_dx * current_dx + prev_dy * current_dy | ||
| prev_length = math.sqrt(prev_dx ** 2 + prev_dy ** 2) | ||
| current_length = math.sqrt(current_dx ** 2 + current_dy ** 2) |
Check warning
Code scanning / CodeQL
Pythagorean calculation with sub-optimal numerics Warning
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No response, so let me close this PR once. If you can finish PR, please feel free to reopen it. @JanLucaF |
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Reference issue
What does this implement/fix?
This change implements the A* algorithm, with the additional parameters distance to obstacles and energy costs. This gives the algorithm the ability to choose a path that is far away from obstacles and/or minimizes changes in the direction of movement. Both parameters can be adjusted via a weighting factor between 0 and 1. The path length has also been given a weighting factor.
Additional information
No additional information needed
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