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Commit cac4559a authored by Erik Nygren's avatar Erik Nygren :bullettrain_front:
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added new path finding method. improved speed slightly...

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flatland/envs/grid4_generators_utils.py
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...@@ -136,7 +136,8 @@ def connect_straigt_line(rail_trans, grid_map, start, end, openend=False): ...@@ -136,7 +136,8 @@ def connect_straigt_line(rail_trans, grid_map, start, end, openend=False):
def quick_path(grid_map, start, end, forbidden_cells=[], openend=False): def quick_path(grid_map, start, end, forbidden_cells=[], openend=False):
""" """
Quick path connecting algorithm with simple heuristic to allways follow largest value of vector towards target.
When obstacle is encountereed second direction of vector is chosen.
""" """
# Helper function to make legal steps # Helper function to make legal steps
(height, width) = np.shape(grid_map.grid) (height, width) = np.shape(grid_map.grid)
......
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