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ai-winter / ros_motion_planning

Motion planning and Navigation of AGV/AMR：ROS planner plugin implementation of A*, JPS, D*, LPA*, D* Lite, Theta*, RRT, RRT*, RRT-Connect, Informed RRT*, ACO, PSO, Voronoi, PID, LQR, MPC, DWA, APF, Pure Pursuit etc.
GNU General Public License v3.0
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Some questions about starting points #69

Closed ZengJunTao111 closed 1 month ago

ZengJunTao111 commented 2 months ago

Hi winter, I have a question. In this setvertex function, if node, when the current node is the first node, which is the starting point, does it not have a parent node, does the parent node not exist? So how is the parent node defined and handled in this function?

ai-winter commented 1 month ago

@ZengJunTao111

The parent node of the starting point is set to be null. In fact, during path backtracking, the parent node of the starting point is not traversed, and the iteration is terminated at the starting point.