How to know the path from start point to goal point by A* in environment ?

[baifanxxx]

Hello author,

Thank you for your contribution. It is great work, and I fellow this for some time. I want to know the path from start point to goal point by A* in the environment. And I know you realize this in your env.py and search.cpp. But I'm stupid. I didn't find the path generated by the A* algorithm specificly. Can you help me point out this in the code specificly? I want to get the path points generated by the A* algorithm, which will help my reaserch.

Thank you,
Best regards,
BAI Fan

[HanqingWangAI]

Hi @baifanxxx ,
Thanks for your interest in our work!

The route of A* is returned in the form of a tuple list, [(x_axis, y_axis, r, d),...], x_axis and y_axis are the x and y coordinates, r is the orientation state of the current object and d means the rotation is clockwise (if d=0) or anti-clockwise (if d=1). Please see Line 501-513.

BTW, we will release a big version update of the simulator before the end of this month, implemented in C++ and wrapped as a python module. Provide faster simulation! More documents follow then. :)