update gif

Search-based Planning/.idea/workspace.xml

@@ -19,7 +19,12 @@
     <select />
   </component>
   <component name="ChangeListManager">
-    <list default="true" id="025aff36-a6aa-4945-ab7e-b2c625055f47" name="Default Changelist" comment="" />
+    <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" />
     <option name="HIGHLIGHT_CONFLICTS" value="true" />
@@ -64,8 +69,8 @@
       </list>
     </option>
   </component>
-  <component name="RunManager" selected="Python.LRTAstar">
-    <configuration name="LRTA_star" type="PythonConfigurationType" factoryName="Python" temporary="true">
+  <component name="RunManager" selected="Python.RTAAstar">
+    <configuration name="ARAstar" type="PythonConfigurationType" factoryName="Python" temporary="true">
       <module name="Search-based Planning" />
       <option name="INTERPRETER_OPTIONS" value="" />
       <option name="PARENT_ENVS" value="true" />
@@ -77,7 +82,7 @@
       <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="C:\Users\Huiming Zhou\Desktop\path planning algorithms\Search-based Planning\Search_2D\LRTAstar.py" />
+      <option name="SCRIPT_NAME" value="$PROJECT_DIR$/Search_2D/ARAstar.py" />
       <option name="PARAMETERS" value="" />
       <option name="SHOW_COMMAND_LINE" value="false" />
       <option name="EMULATE_TERMINAL" value="false" />
@@ -86,7 +91,7 @@
       <option name="INPUT_FILE" value="" />
       <method v="2" />
     </configuration>
-    <configuration name="LRTAstar" type="PythonConfigurationType" factoryName="Python" temporary="true">
+    <configuration name="LRTA_star" type="PythonConfigurationType" factoryName="Python" temporary="true">
       <module name="Search-based Planning" />
       <option name="INTERPRETER_OPTIONS" value="" />
       <option name="PARENT_ENVS" value="true" />
@@ -98,7 +103,7 @@
       <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="C:\Users\Huiming Zhou\Desktop\path planning algorithms\Search-based Planning\Search_2D\LRTAstar.py" />
       <option name="PARAMETERS" value="" />
       <option name="SHOW_COMMAND_LINE" value="false" />
       <option name="EMULATE_TERMINAL" value="false" />
@@ -107,7 +112,7 @@
       <option name="INPUT_FILE" value="" />
       <method v="2" />
     </configuration>
-    <configuration name="RTAAstar" type="PythonConfigurationType" factoryName="Python" temporary="true">
+    <configuration name="LRTAstar" type="PythonConfigurationType" factoryName="Python" temporary="true">
       <module name="Search-based Planning" />
       <option name="INTERPRETER_OPTIONS" value="" />
       <option name="PARENT_ENVS" value="true" />
@@ -119,7 +124,7 @@
       <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/RTAAstar.py" />
+      <option name="SCRIPT_NAME" value="$PROJECT_DIR$/Search_2D/LRTAstar.py" />
       <option name="PARAMETERS" value="" />
       <option name="SHOW_COMMAND_LINE" value="false" />
       <option name="EMULATE_TERMINAL" value="false" />
@@ -128,7 +133,7 @@
       <option name="INPUT_FILE" value="" />
       <method v="2" />
     </configuration>
-    <configuration name="bidirectional_a_star" type="PythonConfigurationType" factoryName="Python" temporary="true">
+    <configuration name="RTAAstar" type="PythonConfigurationType" factoryName="Python" temporary="true">
       <module name="Search-based Planning" />
       <option name="INTERPRETER_OPTIONS" value="" />
       <option name="PARENT_ENVS" value="true" />
@@ -140,7 +145,7 @@
       <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/bidirectional_a_star.py" />
+      <option name="SCRIPT_NAME" value="$PROJECT_DIR$/Search_2D/RTAAstar.py" />
       <option name="PARAMETERS" value="" />
       <option name="SHOW_COMMAND_LINE" value="false" />
       <option name="EMULATE_TERMINAL" value="false" />
@@ -193,19 +198,19 @@
     </configuration>
     <list>
       <item itemvalue="Python.dijkstra" />
-      <item itemvalue="Python.bidirectional_a_star" />
       <item itemvalue="Python.dfs" />
       <item itemvalue="Python.LRTA_star" />
       <item itemvalue="Python.LRTAstar" />
       <item itemvalue="Python.RTAAstar" />
+      <item itemvalue="Python.ARAstar" />
     </list>
     <recent_temporary>
       <list>
-        <item itemvalue="Python.LRTAstar" />
         <item itemvalue="Python.RTAAstar" />
+        <item itemvalue="Python.LRTAstar" />
+        <item itemvalue="Python.ARAstar" />
         <item itemvalue="Python.LRTA_star" />
         <item itemvalue="Python.dfs" />
-        <item itemvalue="Python.bidirectional_a_star" />
       </list>
     </recent_temporary>
   </component>

Search-based Planning/Search_2D/ARAstar.py

@@ -152,7 +152,7 @@ class AraStar:
 
 def main():
     x_start = (5, 5)  # Starting node
-    x_goal = (49, 5)  # Goal node
+    x_goal = (45, 25)  # Goal node
 
     arastar = AraStar(x_start, x_goal, 2.5, "manhattan")
     plot = plotting.Plotting(x_start, x_goal)