OPEN(OPEN_​COUNT,:)=i​nsert_open​(xNode,yNo​de,path_co​st,goal_di​stance); how to solve this error please help fast

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% A* ALGORITHM Demo
% Interactive A* search demo
% 04-26-2005
%   Copyright 2009-2010 The MathWorks, Inc.
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%DEFINE THE 2-D MAP ARRAY
MAX_X=10;
MAX_Y=10;
MAX_VAL=10;
%This array stores the coordinates of the map and the 
%Objects in each coordinate
MAP=2*(ones(MAX_X,MAX_Y));

% Obtain Obstacle, Target and Robot Position
% Initialize the MAP with input values
% Obstacle=-1,Target = 0,Robot=1,Space=2
j=0;
x_val = 1;
y_val = 1;
axis([1 MAX_X+1 1 MAX_Y+1])
grid on;
hold on;
n=0;%Number of Obstacles

% BEGIN Interactive Obstacle, Target, Start Location selection
pause(1);
h=msgbox('Please Select the Target using the Left Mouse button');
uiwait(h,5);
if ishandle(h) == 1
    delete(h);
end
xlabel('Please Select the Target using the Left Mouse button','Color','black');
but=0;
while (but ~= 1) %Repeat until the Left button is not clicked
    [xval,yval,but]=ginput(1);
end
xval=floor(xval);
yval=floor(yval);
xTarget=xval;%X Coordinate of the Target
yTarget=yval;%Y Coordinate of the Target

MAP(xval,yval)=0;%Initialize MAP with location of the target
plot(xval+.5,yval+.5,'gd');
text(xval+1,yval+.5,'Target')

pause(2);
h=msgbox('Select Obstacles using the Left Mouse button,to select the last obstacle use the Right button');
xlabel('Select Obstacles using the Left Mouse button,to select the last obstacle use the Right button','Color','blue');
uiwait(h,10);
if ishandle(h) == 1
    delete(h);
end
while but == 1
    [xval,yval,but] = ginput(1);
    xval=floor(xval);
    yval=floor(yval);
    MAP(xval,yval)=-1;%Put on the closed list as well
    plot(xval+.5,yval+.5,'ro');
end%End of While loop

pause(1);

h=msgbox('Please Select the Vehicle initial position using the Left Mouse button');
uiwait(h,5);
if ishandle(h) == 1
    delete(h);
end
xlabel('Please Select the Vehicle initial position ','Color','black');
but=0;
while (but ~= 1) %Repeat until the Left button is not clicked
    [xval,yval,but]=ginput(1);
    xval=floor(xval);
    yval=floor(yval);
end
xStart=xval;%Starting Position
yStart=yval;%Starting Position
MAP(xval,yval)=1;
plot(xval+.5,yval+.5,'bo');
%End of obstacle-Target pickup

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%LISTS USED FOR ALGORITHM
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%OPEN LIST STRUCTURE
%--------------------------------------------------------------------------
%IS ON LIST 1/0 |X val |Y val |Parent X val |Parent Y val |h(n) |g(n)|f(n)|
%--------------------------------------------------------------------------
OPEN=[];
%CLOSED LIST STRUCTURE
%--------------
%X val | Y val |
%--------------
% CLOSED=zeros(MAX_VAL,2);
CLOSED=[];

%Put all obstacles on the Closed list
k=1;%Dummy counter
for i=1:MAX_X
    for j=1:MAX_Y
        if(MAP(i,j) == -1)
            CLOSED(k,1)=i; 
            CLOSED(k,2)=j; 
            k=k+1;
        end
    end
end
CLOSED_COUNT=size(CLOSED,1);
%set the starting node as the first node
xNode=xval;
yNode=yval;
OPEN_COUNT=1;
path_cost=0;
goal_distance=distance(xNode,yNode,xTarget,yTarget);
OPEN(OPEN_COUNT,:)=insert_open(xNode,yNode,xNode,yNode,goal_distance,path_cost,goal_distance);
OPEN(OPEN_COUNT,1)=0;
CLOSED_COUNT=CLOSED_COUNT+1;
CLOSED(CLOSED_COUNT,1)=xNode;
CLOSED(CLOSED_COUNT,2)=yNode;
NoPath=1;
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% START ALGORITHM
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
while((xNode ~= xTarget || yNode ~= yTarget) && NoPath == 1)
    %  plot(xNode+.5,yNode+.5,'go');
    exp_array=expand_array(xNode,yNode,path_cost,xTarget,yTarget,CLOSED,MAX_X,MAX_Y);
    exp_count=size(exp_array,1);
    %UPDATE LIST OPEN WITH THE SUCCESSOR NODES
    %OPEN LIST FORMAT
    %--------------------------------------------------------------------------
    %IS ON LIST 1/0 |X val |Y val |Parent X val |Parent Y val |h(n) |g(n)|f(n)|
    %--------------------------------------------------------------------------
    %EXPANDED ARRAY FORMAT
    %--------------------------------
    %|X val |Y val ||h(n) |g(n)|f(n)|
    %--------------------------------
    for i=1:exp_count
        flag=0;
        for j=1:OPEN_COUNT
            if(exp_array(i,1) == OPEN(j,2) && exp_array(i,2) == OPEN(j,3) )
                OPEN(j,8)=min(OPEN(j,8),exp_array(i,5)); %#ok<*SAGROW>
                if OPEN(j,8)== exp_array(i,5)
                    %UPDATE PARENTS,gn,hn
                    OPEN(j,4)=xNode;
                    OPEN(j,5)=yNode;
                    OPEN(j,6)=exp_array(i,3);
                    OPEN(j,7)=exp_array(i,4);
                end;%End of minimum fn check
                flag=1;
            end;%End of node check
            %         if flag == 1
            %             break;
        end;%End of j for
        if flag == 0
            OPEN_COUNT = OPEN_COUNT+1;
            OPEN(OPEN_COUNT,:)=insert_open(exp_array(i,1),exp_array(i,2),xNode,yNode,exp_array(i,3),exp_array(i,4),exp_array(i,5));
        end;%End of insert new element into the OPEN list
    end;%End of i for
    %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
    %END OF WHILE LOOP
    %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
    %Find out the node with the smallest fn 
    index_min_node = min_fn(OPEN,OPEN_COUNT,xTarget,yTarget);
    if (index_min_node ~= -1)    
        %Set xNode and yNode to the node with minimum fn
        xNode=OPEN(index_min_node,2);
        yNode=OPEN(index_min_node,3);
        path_cost=OPEN(index_min_node,6);%Update the cost of reaching the parent node
        %Move the Node to list CLOSED
        CLOSED_COUNT=CLOSED_COUNT+1;
        CLOSED(CLOSED_COUNT,1)=xNode;
        CLOSED(CLOSED_COUNT,2)=yNode;
        OPEN(index_min_node,1)=0;
    else
        %No path exists to the Target!!
        NoPath=0;%Exits the loop!
    end;%End of index_min_node check
end;%End of While Loop
%Once algorithm has run The optimal path is generated by starting of at the
%last node(if it is the target node) and then identifying its parent node
%until it reaches the start node.This is the optimal path

i=size(CLOSED,1);
Optimal_path=[];
xval=CLOSED(i,1);
yval=CLOSED(i,2);
i=1;
Optimal_path(i,1)=xval;
Optimal_path(i,2)=yval;
i=i+1;

if ( (xval == xTarget) && (yval == yTarget))
    inode=0;
    %Traverse OPEN and determine the parent nodes
    parent_x=OPEN(node_index(OPEN,xval,yval),4);%node_index returns the index of the node
    parent_y=OPEN(node_index(OPEN,xval,yval),5);
    
    while( parent_x ~= xStart || parent_y ~= yStart)
        Optimal_path(i,1) = parent_x;
        Optimal_path(i,2) = parent_y;
        %Get the grandparents:-)
        inode=node_index(OPEN,parent_x,parent_y);
        parent_x=OPEN(inode,4);%node_index returns the index of the node
        parent_y=OPEN(inode,5);
        i=i+1;
    end;
    j=size(Optimal_path,1);
    %Plot the Optimal Path!
    p=plot(Optimal_path(j,1)+.5,Optimal_path(j,2)+.5,'bo');
    j=j-1;
    for i=j:-1:1
        pause(.25);
        set(p,'XData',Optimal_path(i,1)+.5,'YData',Optimal_path(i,2)+.5);
        drawnow ;
    end;
    plot(Optimal_path(:,1)+.5,Optimal_path(:,2)+.5);
else
    pause(1);
    h=msgbox('Sorry, No path exists to the Target!','warn');
    uiwait(h,5);
end

[Jan]

If you post a copy of the complete error message, it would be much easier to help you. Currently the readers have to guess, what the error is and where is occurs.

Use the tools to format code as code to improve the readability.

[Jaswanth]

I got error at line 116,OPEN(OPEN_COUNT,:)=insert_open(xNode,yNode,xNode,yNode,goal_distance,path_cost,goal_distance)

[Jan]

@Jaswanth: Please post a copy of the complete error message. This is much better than letting the readers guess, what the problem is.

You are asking for a "fast" help. This is not perceived as a polite request. Avoid such pushing. Provide the details instead, because you do have these important information in your command window already. So it would be helpful, if you make it as easy as possible to help you.

This time I've applied the code formatting for you. Please do this by your own in the future.

The code contains this copyright notice:

% Copyright 2009-2010 The MathWorks, Inc.

Are you sure, that you are allowed to post a copy in the public forum?

[Jan]

Walter hast posted a link to the code in the FileExchange. In the discussion several users mentioned an error in this line also - again without posting the actual message. It is frustrating, that this important detail is not shared. Most likely the problem is easy to solve as soon, at it is mentioned, what the problem is.

[Walter Roberson]

The user posted the error as the tag, undefined function or variable insert_open. The File Exchange contribution contains the function insert_open. When the contribution is properly installed, with the directory added to the matlab path, the function would be found. Installing the contribution by using the Add-on Explorer automatically adds the directory to the path.

[Jan]

@Walter Roberson: Ah, the tags...

@Jaswanth: Considering Walter's explanation: Did you install the contents of the complete download by saving all of the M-files in the same folder, which is indluced in your Matlab PATH?

Answer 1

[Walter Roberson]

https://www.mathworks.com/matlabcentral/fileexchange/26248-a-a-star-search-for-path-planning-tutorial has the source code

[Jan]

@Walter Roberson: Sometimes the links you are posting are not clickable. Then I add a space behind it to trigger the conversion.

This is an example provided by MathWorks?

CLOSED=[];
%Put all obstacles on the Closed list
k=1;%Dummy counter
for i=1:MAX_X
    for j=1:MAX_Y
        if(MAP(i,j) == -1)
            CLOSED(k,1)=i; 
            CLOSED(k,2)=j; 
            k=k+1;
        end
    end
end

What about:

[row, col] = find(MAP.' == -1);
CLOSED     = [col, row];

[Walter Roberson]

The author of the contribution is marked as Staff.

Links that I post are not active when I post from my phone — it takes 7 or 8 clicks to make them active so I often do not bother

[Jan]

@Walter Roberson: Okay. Then I dare from time to time to insert spaces after not-working links in your contributions. Of course I do not change anything else.