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Kei18 / py-lacam

Minimal Python implementation of LaCAM* for MAPF
https://kei18.github.io/lacam/
MIT License
13 stars 3 forks source link

Line 163 in `lacam.py` #5

Closed Arseni1919 closed 1 month ago

Arseni1919 commented 1 month ago

Lines 157-167 in lacam.py file:

# new configuration
N_new = HighLevelNode(
    Q=Q_to,
    parent=N,
    order=self.get_order(Q_to),
    g=N.g + self.get_edge_cost(N.Q, Q_to),
    h=self.get_h_value(Q_init),
)

Is it supposed to be: h=self.get_h_value(Q_to),, no?.. If not, why is it important to put Q_init inside? Thank you in advance, Arseni

Kei18 commented 1 month ago

Yes, it should be Q_to; otherwise, the optimality disappears. Thanks!