def planMore(self, iters):
for n in xrange(iters):
self.numIters += 1
n = self.expand()
if n != None and self.goal != None:
if self.goal.contains(n.x):
self.goalNodes.append(n)
if n.c + self.objective.terminal(n.x) < self.bestPathCost:
self.bestPathCost = n.c + self.objective.terminal(n.x)
print "New goal node with cost", self.bestPathCost
self.bestPath = TreePlanner.getPath(self, n)
if self.bestPath == None:
print "Uh... no path to goal?"
return True
return False
def planMore(self,iters):
for n in xrange(iters):
self.numIters += 1
n = self.expand()
if n != None and self.goal != None:
if self.goal.contains(n.x):
self.goalNodes.append(n)
if n.c + self.objective.terminal(n.x) < self.bestPathCost:
self.bestPathCost = n.c + self.objective.terminal(n.x)
print "New goal node with cost",self.bestPathCost
self.bestPath = TreePlanner.getPath(self,n)
if self.bestPath == None:
print "Uh... no path to goal?"
return True
return False
def getPath(self, n=None):
if n == None:
return self.bestPath
return TreePlanner.getPath(self, n)
def getPath(self,n=None):
if n == None:
return self.bestPath
return TreePlanner.getPath(self,n)
def getPath(self,n=None):
if n == None:
if len(self.goalNodes)==0:
return None
return TreePlanner.getPath(self,self.goalNodes[0])
return TreePlanner.getPath(self,n)
