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Clarity tweak. ref #1011

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This commit is contained in:
Penn, John M 047828115 2020-07-27 18:01:16 -05:00
parent 07030127f9
commit 064579233c
1 changed files with 4 additions and 4 deletions
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8
trick_sims/SIM_wheelbot/models/Guidance/src/findpath.cpp
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@ -9,6 +9,7 @@ std::vector<Point> FindPath( GridSquare* origin, GridSquare* goal, Arena* arena)
std::vector<GridSquare*> closedSet;
std::vector<Point> failure;
int estimated_cost_to_goal; // h(n)
if (arena == (Arena*)0) {
return failure;
@ -25,9 +26,9 @@ std::vector<Point> FindPath( GridSquare* origin, GridSquare* goal, Arena* arena)
origin->parent = (GridSquare*)0;
origin->g_score = 0;
int f_score;
arena->movementCostEstimate(origin, goal, f_score);
origin->f_score = f_score;
arena->movementCostEstimate(origin, goal, estimated_cost_to_goal);
origin->f_score = estimated_cost_to_goal;
openSet.push_back(origin);
@ -94,7 +95,6 @@ std::vector<Point> FindPath( GridSquare* origin, GridSquare* goal, Arena* arena)
neighbor->parent = current;
neighbor->g_score = neighbor_g_score;
int estimated_cost_to_goal;
arena->movementCostEstimate(neighbor, goal, estimated_cost_to_goal );
neighbor->f_score = neighbor->g_score + estimated_cost_to_goal;