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replace while loop with if statement

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This commit is contained in:
mat 2022-10-07 19:20:14 -05:00
parent a0859eaa50
commit 3694f234b1
1 changed files with 22 additions and 22 deletions
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44
azalea-pathfinder/src/dstarlite.rs
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@ -252,30 +252,30 @@ impl<
/// Return the next vertex to visit and set our current position to be there.
pub fn next(&mut self) -> Result<Option<&N>, NoPathError> {
while self.start.deref() != &self.goal {
let start_score = self.score(&self.start);
if start_score.rhs == W::max_value() {
return Err(NoPathError);
}
let get_score = |edge: &EdgeTo<N, W>| -> W {
let g_score = self.score(&edge.target).g;
if g_score == W::max_value() {
W::max_value()
} else {
edge.cost + g_score
}
};
*self.start.to_mut() = (self.successors)(&self.start)
.into_iter()
.min_by(|a, b| get_score(a).cmp(&get_score(b)))
.expect("No possible successors")
.target;
return Ok(Some(self.start.as_ref()));
if self.start.deref() == &self.goal {
return Ok(None);
}
let start_score = self.score(&self.start);
if start_score.rhs == W::max_value() {
return Err(NoPathError);
}
Ok(None)
let get_score = |edge: &EdgeTo<N, W>| -> W {
let g_score = self.score(&edge.target).g;
if g_score == W::max_value() {
W::max_value()
} else {
edge.cost + g_score
}
};
*self.start.to_mut() = (self.successors)(&self.start)
.into_iter()
.min_by(|a, b| get_score(a).cmp(&get_score(b)))
.expect("No possible successors")
.target;
return Ok(Some(self.start.as_ref()));
}
// /// Change our current position.