workspace

Search-based Planning/.idea/workspace.xml

@@ -22,8 +22,6 @@
     <list default="true" id="025aff36-a6aa-4945-ab7e-b2c625055f47" name="Default Changelist" comment="">
       <change beforePath="$PROJECT_DIR$/.idea/workspace.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/workspace.xml" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/Search_2D/ARAstar.py" beforeDir="false" afterPath="$PROJECT_DIR$/Search_2D/ARAstar.py" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/gif/ARA_star.gif" beforeDir="false" afterPath="$PROJECT_DIR$/gif/ARA_star.gif" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/gif/LRTA_star.gif" beforeDir="false" afterPath="$PROJECT_DIR$/gif/LRTA_star.gif" afterDir="false" />
     </list>
     <option name="EXCLUDED_CONVERTED_TO_IGNORED" value="true" />
     <option name="SHOW_DIALOG" value="false" />
@@ -69,7 +67,7 @@
       </list>
     </option>
   </component>
-  <component name="RunManager" selected="Python.RTAAstar">
+  <component name="RunManager" selected="Python.ARAstar">
     <configuration name="ARAstar" type="PythonConfigurationType" factoryName="Python" temporary="true">
       <module name="Search-based Planning" />
       <option name="INTERPRETER_OPTIONS" value="" />
@@ -206,9 +204,9 @@
     </list>
     <recent_temporary>
       <list>
+        <item itemvalue="Python.ARAstar" />
         <item itemvalue="Python.RTAAstar" />
         <item itemvalue="Python.LRTAstar" />
-        <item itemvalue="Python.ARAstar" />
         <item itemvalue="Python.LRTA_star" />
         <item itemvalue="Python.dfs" />
       </list>

Search-based Planning/Search_2D/ARAstar.py

@@ -152,9 +152,9 @@ class AraStar:
 
 def main():
     x_start = (5, 5)  # Starting node
-    x_goal = (45, 25)  # Goal node
+    x_goal = (45, 5)  # Goal node
 
-    arastar = AraStar(x_start, x_goal, 2.5, "manhattan")
+    arastar = AraStar(x_start, x_goal, 2.5, "euclidean")
     plot = plotting.Plotting(x_start, x_goal)
 
     fig_name = "Anytime Repairing A* (ARA*)"