s434720/2019SZI-Projekt
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Code review

Browse Source
This commit is contained in:
Maciej Sobkowiak 2019-04-28 17:54:26 +02:00
parent 02071f919f
commit 25040f0ea0
2 changed files with 13 additions and 15 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

26
UI/Apath.py
View File

@ -35,46 +35,46 @@ def APath(table, start, end):
i=i+1 i=i+1
current_node = open_list[0] current_node = open_list[0]
current_index = 0 current_index = 0
# Find current node
for index, item in enumerate(open_list): for index, item in enumerate(open_list):
if(item.f < current_node.f): if(item.f < current_node.f):
current_node = item current_node = item
current_index = index current_index = index
# Pop current off open list, add to closed list # Pop current off open list and add to closed list
open_list.pop(current_index) open_list.pop(current_index)
closed_list.append(current_node) closed_list.append(current_node)
# Found the goal # Found end node
if current_node == end_node: if current_node == end_node:
path = [] path = []
current = current_node current = current_node
while current is not None: while current is not None:
path.append(current.position) path.append(current.position)
current = current.parent current = current.parent
return path[::-1] # Return reversed path return path[::-1]
# Generate children # Generate children
children = [] children = []
for new_position in [(0, -1), (0, 1), (-1, 0), (1, 0), (-1, -1), (-1, 1), (1, -1), (1, 1)]: # Adjacent squares for new_position in [(0, -1), (0, 1), (-1, 0), (1, 0), (-1, -1), (-1, 1), (1, -1), (1, 1)]:
# Get node position
node_position = (current_node.position[0] + new_position[0], current_node.position[1] + new_position[1]) node_position = (current_node.position[0] + new_position[0], current_node.position[1] + new_position[1])
# Make sure within range # If in maze
if node_position[0] > (len(table) - 1) or node_position[0] < 0 or node_position[1] > (len(table[len(table)-1]) -1) or node_position[1] < 0: if node_position[0] > (len(table) - 1) or node_position[0] < 0 or node_position[1] > (len(table[len(table)-1]) -1) or node_position[1] < 0:
continue continue
# Make sure walkable terrain # If not obstacle
if table[node_position[0]][node_position[1]].field_type == 3: if table[node_position[0]][node_position[1]].field_type == 3:
continue continue
# Create new node
new_node = AStarNode(current_node, node_position) new_node = AStarNode(current_node, node_position)
# Append
children.append(new_node) children.append(new_node)
# Loop through children
for child in children: for child in children:
@ -86,7 +86,7 @@ def APath(table, start, end):
def InOpenlist(child: AStarNode): def InOpenlist(child: AStarNode):
for open_node in open_list: for open_node in open_list:
if child == open_node: # and child.g > open_node.g: if child == open_node:
return True return True
@ -95,7 +95,6 @@ def APath(table, start, end):
if InClosedlist(child)==True: if InClosedlist(child)==True:
continue continue
# Create the f, g, and h values
child.g = current_node.g + 1 child.g = current_node.g + 1
child.h = max(abs(child.position[0] - end_node.position[0]), abs(child.position[1] - end_node.position[1])) child.h = max(abs(child.position[0] - end_node.position[0]), abs(child.position[1] - end_node.position[1]))
child.f = child.g + child.h child.f = child.g + child.h
@ -104,7 +103,6 @@ def APath(table, start, end):
if InOpenlist(child)==True: if InOpenlist(child)==True:
continue continue
# Add the child to the open list
open_list.append(child) open_list.append(child)

2
main.py
View File

@ -8,7 +8,7 @@ def main():
# initialize window (grid, start,end,mode) # initialize window (grid, start,end,mode)
#mode 1 - random obstacles #mode 1 - random obstacles
#mode 2 - board obstacles #mode 2 - board obstacles
Window(grid,(0,0),(19,19),2) Window(grid,(0,0),(19,19),1)
if __name__ == "__main__": if __name__ == "__main__":