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algoryth astar v2

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s444349 2020-04-26 11:14:26 +02:00
parent 83c00349d5
commit 9127c46938
1 changed files with 11 additions and 5 deletions
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16
astar.py
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@ -12,6 +12,7 @@ def astar(obiekty, start, cel):
sasiedzi = [(0, 1), (0, -1), (1, 0), (-1, 0)]
close_set = set()
came_from = {}
hscore = {start: heurystyka(obiekty, start, cel)}
gscore = {start: 0}
fscore = {start: heurystyka(obiekty, start, cel)}
oheap = []
@ -20,12 +21,14 @@ def astar(obiekty, start, cel):
while oheap:
current = heapq.heappop(oheap)[1]
if current == 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]
close_set.add(current)
obiekty["plansza"][current[0], current[1]].setKolor((255, 0, 0))
for i, j in sasiedzi:
sasiad = current[0] + i, current[1] + j
@ -35,12 +38,15 @@ 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)
if sasiad in close_set and tentative_g_score >= gscore.get(sasiad, 0):
tentative_h_score = heurystyka(obiekty, sasiad, cel) + heurystyka(obiekty, current, sasiad)
if sasiad in close_set 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]:
if tentative_h_score <= hscore.get(current, 0) or 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