update

Search-based Planning/.idea/workspace.xml

@@ -21,6 +21,7 @@
   <component name="ChangeListManager">
     <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/D_star.py" beforeDir="false" afterPath="$PROJECT_DIR$/Search_2D/D_star.py" afterDir="false" />
     </list>
     <option name="EXCLUDED_CONVERTED_TO_IGNORED" value="true" />
     <option name="SHOW_DIALOG" value="false" />
@@ -72,7 +73,7 @@
       </list>
     </option>
   </component>
-  <component name="RunManager" selected="Python.bidirectional_a_star">
+  <component name="RunManager" selected="Python.D_star">
     <configuration name="ARAstar" type="PythonConfigurationType" factoryName="Python" temporary="true">
       <module name="Search-based Planning" />
       <option name="INTERPRETER_OPTIONS" value="" />
@@ -94,7 +95,7 @@
       <option name="INPUT_FILE" value="" />
       <method v="2" />
     </configuration>
-    <configuration name="LPAstar" type="PythonConfigurationType" factoryName="Python" temporary="true">
+    <configuration name="D_star" type="PythonConfigurationType" factoryName="Python" temporary="true">
       <module name="Search-based Planning" />
       <option name="INTERPRETER_OPTIONS" value="" />
       <option name="PARENT_ENVS" value="true" />
@@ -106,7 +107,7 @@
       <option name="IS_MODULE_SDK" value="true" />
       <option name="ADD_CONTENT_ROOTS" value="true" />
       <option name="ADD_SOURCE_ROOTS" value="true" />
-      <option name="SCRIPT_NAME" value="$PROJECT_DIR$/Search_2D/LPAstar.py" />
+      <option name="SCRIPT_NAME" value="$PROJECT_DIR$/Search_2D/D_star.py" />
       <option name="PARAMETERS" value="" />
       <option name="SHOW_COMMAND_LINE" value="false" />
       <option name="EMULATE_TERMINAL" value="false" />
@@ -115,7 +116,7 @@
       <option name="INPUT_FILE" value="" />
       <method v="2" />
     </configuration>
-    <configuration name="LRTAstar" type="PythonConfigurationType" factoryName="Python" temporary="true">
+    <configuration name="LPAstar" type="PythonConfigurationType" factoryName="Python" temporary="true">
       <module name="Search-based Planning" />
       <option name="INTERPRETER_OPTIONS" value="" />
       <option name="PARENT_ENVS" value="true" />
@@ -127,7 +128,7 @@
       <option name="IS_MODULE_SDK" value="true" />
       <option name="ADD_CONTENT_ROOTS" value="true" />
       <option name="ADD_SOURCE_ROOTS" value="true" />
-      <option name="SCRIPT_NAME" value="$PROJECT_DIR$/Search_2D/LRTAstar.py" />
+      <option name="SCRIPT_NAME" value="$PROJECT_DIR$/Search_2D/LPAstar.py" />
       <option name="PARAMETERS" value="" />
       <option name="SHOW_COMMAND_LINE" value="false" />
       <option name="EMULATE_TERMINAL" value="false" />
@@ -204,16 +205,16 @@
       <item itemvalue="Python.ARAstar" />
       <item itemvalue="Python.LPAstar" />
       <item itemvalue="Python.RTAAstar" />
-      <item itemvalue="Python.LRTAstar" />
       <item itemvalue="Python.bidirectional_a_star" />
+      <item itemvalue="Python.D_star" />
     </list>
     <recent_temporary>
       <list>
+        <item itemvalue="Python.D_star" />
         <item itemvalue="Python.bidirectional_a_star" />
         <item itemvalue="Python.ARAstar" />
         <item itemvalue="Python.LPAstar" />
         <item itemvalue="Python.RTAAstar" />
-        <item itemvalue="Python.LRTAstar" />
       </list>
     </recent_temporary>
   </component>

Search-based Planning/Search_2D/D_star.py

@@ -68,8 +68,8 @@ class Dstar:
                         self.modify(s)
                         continue
                     s = self.PARENT[s]
-                self.path = self.extract_path(self.xI, self.xG)
-                self.plot_path(self.path)
+            self.path = self.extract_path(self.xI, self.xG)
+            self.plot_path(self.path)
             self.fig.canvas.draw_idle()
 
     def extract_path(self, s_start, s_end):