关于 LPAstar 的错误

Traceback (most recent call last): File "C:\Users\\user\Desktop\A-star-improve\PathPlanning-master\PathPlanning-master\Search_based_Planning\Search_2D\LPAstar.py", line 256, in main() File "C:\Users\\user\Desktop\A-star-improve\PathPlanning-master\PathPlanning-master\Search_based_Planning\Search_2D\LPAstar.py", line 252, in main lpastar.run() File "C:\Users\\user\Desktop\A-star-improve\PathPlanning-master\PathPlanning-master\Search_based_Planning\Search_2D\LPAstar.py", line 47, in run self.ComputeShortestPath() File "C:\Users\\user\Desktop\A-star-improve\PathPlanning-master\PathPlanning-master\Search_based_Planning\Search_2D\LPAstar.py", line 87, in ComputeShortestPath if v >= self.CalculateKey(self.s_goal) and
File "C:\Users\\user\Desktop\A-star-improve\PathPlanning-master\PathPlanning-master\Search_based_Planning\Search_2D\LPAstar.py", line 142, in CalculateKey return [min(self.g[s], self.rhs[s]) + self.h(s), KeyError: (45, 45)