.idea/.gitignore

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+# Default ignored files
+/shelf/
+/workspace.xml
+# Editor-based HTTP Client requests
+/httpRequests/
+# Datasource local storage ignored files
+/dataSources/
+/dataSources.local.xml

.idea/SI-projekt-smieciarka2.iml

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+<?xml version="1.0" encoding="UTF-8"?>
+<module type="PYTHON_MODULE" version="4">
+  <component name="NewModuleRootManager">
+    <content url="file://$MODULE_DIR$" />
+    <orderEntry type="inheritedJdk" />
+    <orderEntry type="sourceFolder" forTests="false" />
+  </component>
+</module>

.idea/inspectionProfiles/profiles_settings.xml

@@ -0,0 +1,6 @@
+<component name="InspectionProjectProfileManager">
+  <settings>
+    <option name="USE_PROJECT_PROFILE" value="false" />
+    <version value="1.0" />
+  </settings>
+</component>

.idea/misc.xml

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+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ProjectRootManager" version="2" project-jdk-name="Python 3.9" project-jdk-type="Python SDK" />
+</project>

.idea/modules.xml

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+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ProjectModuleManager">
+    <modules>
+      <module fileurl="file://$PROJECT_DIR$/.idea/SI-projekt-smieciarka2.iml" filepath="$PROJECT_DIR$/.idea/SI-projekt-smieciarka2.iml" />
+    </modules>
+  </component>
+</project>

.idea/vcs.xml

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+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="VcsDirectoryMappings">
+    <mapping directory="$PROJECT_DIR$" vcs="Git" />
+  </component>
+</project>

src/astar.py

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+from queue import PriorityQueue
+
+def heuristic(xy1, xy2):
+    return abs(xy1[0] - xy2[0]) + abs(xy1[1] - xy2[1])
+
+def neighbours(point):
+    x, y = point
+    list=((x+1,y), (x,y+1), (x,y-1), (x-1,y))
+    return list
+
+#determining the cost of a specific field in the grid
+def checkCost(grid, xy):
+    x, y = xy
+    cost = grid[x][y]
+    return cost
+
+def aStar(grid, start, goal):
+    openlist = PriorityQueue()
+    openlist.put(start, 0)
+
+    fScore = {}
+    origin = {start: None}
+    fScore[start] = 0
+    closedlist=[]
+
+    while openlist!= {} :
+        current = openlist.get()
+
+        if current == goal:
+            path = []
+            #following from the succesors to the root our starting point
+            while current != start:
+                path.append(current)
+                current = origin[current]
+            path.reverse()
+            break
+
+        # successor function
+        for succ in neighbours(current):
+            #checking if didn't go out of the maze
+            if(succ[0] < 0 or succ[1] < 0 or succ[0] > 14 or succ[1] > 14):
+               continue
+
+            gScore = fScore[current[0],current[1]] + checkCost(grid, current)
+            if succ not in closedlist or gScore < fScore[succ[0],succ[1]]:
+                closedlist.append(succ)
+                origin[succ[0],succ[1]] = current
+                fScore[succ[0],succ[1]] = gScore
+                priority = gScore + heuristic(goal, succ)
+                openlist.put(succ, priority)
+    return path