algoryth astar v2
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16
astar.py
16
astar.py
@ -12,6 +12,7 @@ def astar(obiekty, start, cel):
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sasiedzi = [(0, 1), (0, -1), (1, 0), (-1, 0)]
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close_set = set()
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came_from = {}
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hscore = {start: heurystyka(obiekty, start, cel)}
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gscore = {start: 0}
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fscore = {start: heurystyka(obiekty, start, cel)}
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oheap = []
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@ -20,12 +21,14 @@ def astar(obiekty, start, cel):
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while oheap:
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current = heapq.heappop(oheap)[1]
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if current == cel:
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obiekty["plansza"][current[0], current[1]].setKolor((255, 0, 0))
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data = []
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while current in came_from:
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data.append(current)
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current = came_from[current]
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return data[::-1]
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close_set.add(current)
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obiekty["plansza"][current[0], current[1]].setKolor((255, 0, 0))
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for i, j in sasiedzi:
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sasiad = current[0] + i, current[1] + j
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@ -35,12 +38,15 @@ def astar(obiekty, start, cel):
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continue
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elif 6 <= sasiad[0] <= 7 and 10 <= sasiad[1] <= 11:
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continue
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tentative_g_score = gscore[current] + heurystyka(obiekty, current, sasiad)
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if sasiad in close_set and tentative_g_score >= gscore.get(sasiad, 0):
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tentative_h_score = heurystyka(obiekty, sasiad, cel) + heurystyka(obiekty, current, sasiad)
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if sasiad in close_set and tentative_h_score > hscore.get(current, 0):
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continue
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if tentative_g_score < gscore.get(sasiad, 0) or sasiad not in [i[1] for i in oheap]:
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if tentative_h_score <= hscore.get(current, 0) or sasiad not in [i[1] for i in oheap]:
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came_from[sasiad] = current
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gscore[sasiad] = tentative_g_score
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fscore[sasiad] = tentative_g_score + heurystyka(obiekty, sasiad, cel)
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hscore[sasiad] = tentative_h_score
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fscore[sasiad] = tentative_h_score + gscore[current]
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gscore[sasiad] = gscore[current] + heurystyka(obiekty, current, sasiad)
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heapq.heappush(oheap, (fscore[sasiad], sasiad))
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obiekty["plansza"][sasiad[0], sasiad[1]].setKolor((0, 255, 0))
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return False
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