TODO:

1. Change Map Dimensions
2. Change Obstacle Sizes
3. Change In-obstacles function to check for collisions with the walls.

Steps to recreate issue:

Enter x coordinate of start point: 10
Enter y coordinate of start point: 10
Enter the start angle of the robot in multiples of 30deg(0 <= theta <= 360): 0
Enter x coordinate of goal point: 10
Enter y coordinate of goal point: 100
Enter the start angle of the robot in multiples of 30deg(0 <= theta <= 360): 0
Enter the step length of the robot (1 <= L <= 10): 1

Terminal Output:

Traceback (most recent call last):
File "a_star_kshitij_abhishek.py", line 420, in
main()
File "a_star_kshitij_abhishek.py", line 405, in main
explored_nodes, shortest_path = astar(L, start_point, goal_point)
File "a_star_kshitij_abhishek.py", line 318, in astar
if child_cost + cost_to_come < open_list_info[child.coord].cost_to_come:
ValueError: The truth value of an array with more than one element is ambiguous. Use a.any() or a.all()

Visualization for node exploration is to be done by drawing vectors from the current node to all possible children and not per pixel.

This instance inputs a step value of 5 but it doesn't work for any value other than 1. The search stops halfway before exploring anything close to the goal node.

Steps to recreate issue:

Enter x coordinate of start point: 10
Enter y coordinate of start point: 10
Enter the start angle of the robot in multiples of 30deg(0 <= theta <= 360): 0
Enter x coordinate of goal point: 190
Enter y coordinate of goal point: 100
Enter the start angle of the robot in multiples of 30deg(0 <= theta <= 360): 0
Enter the step length of the robot (1 <= L <= 10): 5

Terminal Output:

No path found

Use the time library to print time taken to search the path and time taken to generate the video.

Backtracked path should show direction of the robot instead of point it should be at