184 lines
6.0 KiB
Python
184 lines
6.0 KiB
Python
import numpy as np
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from heapq import * # pylint: disable=unused-wildcard-import
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def astar(table, start, end):
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"""Returns a list of tuples as a path from the given start to the given end in the given table"""
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# Create start and end node
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start_node = table[start[0]][start[1]]
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start_node.g = start_node.h = start_node.f = 0
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end_node = table[end[0]][end[1]]
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end_node.g = end_node.h = end_node.f = 0
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# Initialize both open and closed list
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open_list = []
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closed_list = []
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# Add the start node
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open_list.append(start_node)
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# Loop until you find the end
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while len(open_list) > 0:
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# Get the current node
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current_node = open_list[0]
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current_index = 0
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for index, item in enumerate(open_list):
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if item.f < current_node.f:
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current_node = item
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current_index = index
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# Pop current off open list, add to closed list
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open_list.pop(current_index)
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closed_list.append(current_node)
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# Found the goal
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if current_node == end_node:
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path = []
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current = current_node
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while current is not None:
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path.append((current.row,current.col))
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current = current.parent
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return path[::-1] # Return reversed path
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# Generate children
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children = []
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for new_position in [(0, -1), (0, 1), (-1, 0), (1, 0), (-1, -1), (-1, 1), (1, -1), (1, 1)]: # Adjacent squares
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# Get node position #check
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node_position = (current_node.row + new_position[0], current_node.col + new_position[1])
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# Make sure within range
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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:
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continue
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# Make sure walkable terrain
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if table[node_position[0]][node_position[1]].field_type == 3:
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continue
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# Create new node
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table[node_position[0]][node_position[1]].parent = current_node
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#new_node = table[node_position[0]][node_position[1]]
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print("Dla :",node_position[0],node_position[1],"rodzicem jest:",current_node.row,current_node.col)
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# Append
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children.append(table[node_position[0]][node_position[1]])
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# Loop through children
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for child in children:
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# Child is on the closed list
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for closed_child in closed_list:
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if child == closed_child:
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continue
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# Create the f, g, and h values
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child.g = current_node.g + 1
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child.h = ((child.row - end_node.row) ** 2) + ((child.col - end_node.col) ** 2)
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child.f = child.g + child.h
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# Child is already in the open list
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for open_node in open_list:
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if child == open_node and child.g > open_node.g:
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continue
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# Add the child to the open list
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open_list.append(child)
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class AStarNode():
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def __init__(self, parent=None, position=None):
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self.parent = parent
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self.position = position
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self.g = 0
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self.h = 0
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self.f = 0
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def __eq__(self, other):
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return self.position == other.position
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def APath(table, start, end):
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"""Returns a list of tuples as a path from the given start to the given end in the given table"""
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# Create start and end node
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start_node = AStarNode(None, start)
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start_node.g = start_node.h = start_node.f = 0
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end_node = AStarNode(None, end)
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end_node.g = end_node.h = end_node.f = 0
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# Initialize both open and closed list
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open_list = []
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closed_list = []
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# Add the start node
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open_list.append(start_node)
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# Loop until you find the end
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while len(open_list) > 0:
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# Get the current node
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current_node = open_list[0]
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current_index = 0
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for index, item in enumerate(open_list):
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if item.f < current_node.f:
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current_node = item
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current_index = index
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# Pop current off open list, add to closed list
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open_list.pop(current_index)
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closed_list.append(current_node)
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# Found the goal
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if current_node == end_node:
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path = []
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current = current_node
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while current is not None:
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path.append(current.position)
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current = current.parent
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return path[::-1] # Return reversed path
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# Generate children
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children = []
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for new_position in [(0, -1), (0, 1), (-1, 0), (1, 0), (-1, -1), (-1, 1), (1, -1), (1, 1)]: # Adjacent squares
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# Get node position
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node_position = (current_node.position[0] + new_position[0], current_node.position[1] + new_position[1])
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# Make sure within range
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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:
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continue
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# Make sure walkable terrain
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if table[node_position[0]][node_position[1]].field_type == 3:
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continue
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# Create new node
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new_node = AStarNode(current_node, node_position)
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# Append
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children.append(new_node)
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# Loop through children
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for child in children:
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# Child is on the closed list
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for closed_child in closed_list:
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if child == closed_child:
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continue
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# Create the f, g, and h values
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child.g = current_node.g + 1
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child.h = ((child.position[0] - end_node.position[0]) ** 2) + ((child.position[1] - end_node.position[1]) ** 2)
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child.f = child.g + child.h
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# Child is already in the open list
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for open_node in open_list:
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if child == open_node and child.g > open_node.g:
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continue
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# Add the child to the open list
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open_list.append(child)
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