From 29734988bd38afc66812d607b3b385fde80c8052 Mon Sep 17 00:00:00 2001 From: Kacper Borkowski Date: Sun, 26 Apr 2020 12:08:58 +0000 Subject: [PATCH] Zaktualizuj 'astar.py' --- astar.py | 13 ++++++++----- 1 file changed, 8 insertions(+), 5 deletions(-) diff --git a/astar.py b/astar.py index 81dccac..63245ea 100644 --- a/astar.py +++ b/astar.py @@ -9,6 +9,7 @@ def heurystyka(obiekty, a, b): def astar(obiekty, start, cel): + sasiedzi = [(0, 1), (0, -1), (1, 0), (-1, 0)] close_set = set() came_from = {} @@ -24,6 +25,7 @@ def astar(obiekty, start, cel): obiekty["plansza"][current[0], current[1]].setKolor((255, 0, 0)) data = [] while current in came_from: + data.append(current) current = came_from[current] return data[::-1] @@ -38,14 +40,15 @@ def astar(obiekty, start, cel): continue elif 6 <= sasiad[0] <= 7 and 10 <= sasiad[1] <= 11: continue - tentative_g_score = gscore[current] + heurystyka(obiekty, current, sasiad) + tentative_h_score = heurystyka(obiekty, sasiad, cel) + heurystyka(obiekty, current, sasiad) - if sasiad in close_set and tentative_g_score >= gscore.get(sasiad, 0): + if sasiad in [i[1] for i in oheap] and tentative_h_score < hscore.get(current, 0): continue - if tentative_g_score < gscore.get(sasiad, 0) or sasiad not in [i[1] for i in oheap]: + elif sasiad not in close_set and sasiad not in [i[1] for i in oheap]: came_from[sasiad] = current - gscore[sasiad] = tentative_g_score - fscore[sasiad] = tentative_g_score + heurystyka(obiekty, sasiad, cel) + hscore[sasiad] = tentative_h_score + fscore[sasiad] = tentative_h_score + gscore[current] + gscore[sasiad] = gscore[current] + heurystyka(obiekty, current, sasiad) heapq.heappush(oheap, (fscore[sasiad], sasiad)) obiekty["plansza"][sasiad[0], sasiad[1]].setKolor((0, 255, 0)) return False