m_env.calcIndex(startState)

[whuxhzhang]

Hi,

I can't understand the meaning of this function，m_env.calcIndex(startState)；
In addition, in "isSolution" function, why should judge this condition : if (goal_distance > 3 * (Constants::LB + Constants::LF)), and how is the number 3 determined? I tried the numbers 1 and 5, and the efficiency will be much slower.

Thanks.

[lgl-960709]

Hi,

How to start this project and what is the starting item. Thank you for your reply!

[tao-min00]

我也有同样的问题，SH_A*算法中的calcIndex()函数为什么是这样定义的？
uint64_t calcIndex(const State &s)
{
return (uint64_t)s.time * (2 * M_PI / Constants::deltat) *
(m_dimx / Constants::xyResolution) *
(m_dimy / Constants::xyResolution) +
(uint64_t)(Constants::normalizeHeadingRad(s.yaw) /
Constants::yawResolution) *
(m_dimx / Constants::xyResolution) *
(m_dimy / Constants::xyResolution) +
(uint64_t)(s.y / Constants::xyResolution) *
(m_dimx / Constants::xyResolution) +
(uint64_t)(s.x / Constants::xyResolution);
}
期待您的回复