There is some problem in LPAstar

[HandsomeDragon3]

In some case, there would be no path extrated right!

[HandsomeDragon3]

especially after adding a lot of obstacles

[zhm-real]

Thanks for your feedback! We will check it later.

[MeetYyj]

I also find this problem. For example, when program started, after adding obstacke (35, 17) and (36, 16), no path extrated right.

I think the key problem is precision of float in function CalculateKey and TopKey. I changed line 136 like this s = min(self.U, key=lambda k: tuple(map(lambda x: round(x, 2), self.U[k]))) and line 142&143 like this return [round(x, 2) for x in [min(self.g[s], self.rhs[s]) + self.h(s), min(self.g[s], self.rhs[s])]] the path showed.

Besides

1. Line 68, we should also UpdateVertex(Obs) when add obstacles ?
2. We should not use manhattan heuristic in a 8-neighborhood map ?