forked from s444399/AI
92 lines
3.4 KiB
Python
92 lines
3.4 KiB
Python
import numpy
|
|
from AStarState import AStarState
|
|
|
|
class AStar:
|
|
def returnPath(self, currentNode, grid):
|
|
path = []
|
|
noRows, noColumns = numpy.shape(grid)
|
|
result = [[-1 for i in range(noColumns)] for j in range(noRows)]
|
|
current = currentNode
|
|
while current is not None:
|
|
path.append(current.position)
|
|
current = current.parent
|
|
path = path[::-1]
|
|
startValue = 0
|
|
for i in range(len(path)):
|
|
result[path[i][0]][path[i][1]] = startValue
|
|
startValue+=1
|
|
return result
|
|
######################################################### w current jest koszt do przebycia
|
|
def search(self, start, end, grid, cost, flaga): #start to kordy wózka, end miejsce podjęcia paczki
|
|
noRows, noColumns = numpy.shape(grid)
|
|
startNode = AStarState(None, tuple(start))
|
|
endNode = AStarState(None, tuple(end))
|
|
startNode.g = 0
|
|
startNode.h = 0
|
|
startNode.f = 0
|
|
endNode.g = 0
|
|
endNode.h = 0
|
|
endNode.f = 0
|
|
toVisit = []
|
|
visited = []
|
|
toVisit.append(startNode)
|
|
iterations = 0
|
|
max = (len(grid) // 2) ** 10
|
|
moves = [[-1, 0], [1, 0], [0, 1], [0, -1]]
|
|
while len(toVisit)>0:
|
|
iterations=iterations+1
|
|
current = toVisit[0]
|
|
currentIndeks = 0
|
|
for indeks, item in enumerate(toVisit):
|
|
if item.g<current.g:
|
|
current = item
|
|
currentIndeks = indeks
|
|
if iterations>max and flaga == 0: #podprojekt genetyczne
|
|
return current.g
|
|
if iterations>max:
|
|
return self.returnPath(current, grid)
|
|
visited.append(current)
|
|
toVisit.pop(currentIndeks)
|
|
if current==endNode and flaga == 0:
|
|
return current.g
|
|
if current==endNode:
|
|
return self.returnPath(current, grid) #zwracanie wagi przejscia
|
|
children = []
|
|
for new in moves:
|
|
positions = (current.position[0]+new[0], current.position[1]+new[1])
|
|
|
|
if (positions[0] > (noRows - 1) or
|
|
positions[0] < 0 or
|
|
positions[1] > (noColumns - 1) or
|
|
positions[1] < 0):
|
|
continue
|
|
""" podprojekt genetyczne"""
|
|
if grid[positions[0]][positions[1]] == 2 and flaga == 0:
|
|
children.append(AStarState(current, positions))
|
|
continue
|
|
|
|
if grid[positions[0]][positions[1]]!=0:
|
|
continue
|
|
|
|
children.append(AStarState(current, positions))
|
|
for child in children:
|
|
|
|
if len([visitedChild for visitedChild in visited if visitedChild==child])>0:
|
|
continue
|
|
|
|
if child.position[0]<=(len(grid)-4) and child.position[0]>=3 and child.position[1]>=4 and child.position[1]<=(len(grid[0])-1):
|
|
child.g = current.g + (10 * cost)
|
|
else:
|
|
child.g = current.g + cost
|
|
child.h = (((child.position[0]-endNode.position[0]) ** 2) + ((child.position[1]-endNode.position[1]) ** 2))
|
|
child.f = child.g + child.h
|
|
|
|
if len([i for i in toVisit if child==i and child.g>i.g])>0:
|
|
continue
|
|
|
|
toVisit.append(child)
|
|
|
|
|
|
|
|
|