added graph function

d_star_lite.py

@@ -59,6 +59,7 @@ def computeShortestPath(graph, queue, s_start, k_m):
             updateVertex(graph, queue, u, s_start, k_m)
             for i in graph.graph[u].parents:
                 updateVertex(graph, queue, i, s_start, k_m)
+        # graph.printGValues()
 
 
 def nextInShortestPath(graph, s_current):

graph.py

@@ -20,7 +20,7 @@ def __str__(self):
     def __repr__(self):
         return self.__str__()
 
-    def udpate_parents(self, parents):
+    def update_parents(self, parents):
         self.parents = parents
 
 

grid.py

@@ -33,6 +33,18 @@ def printGrid(self):
         for row in self.cells:
             print(row)
 
+    def printGValues(self):
+        for j in range(self.y_dim):
+            str_msg = ""
+            for i in range(self.x_dim):
+                node_id = 'x' + str(i) + 'y' + str(j)
+                node = self.graph[node_id]
+                if node.g == float('inf'):
+                    str_msg += ' - '
+                else:
+                    str_msg += ' ' + str(node.g) + ' '
+            print(str_msg)
+
     def generateGraphFromGrid(self):
         edge = 1
         for i in range(len(self.cells)):