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optimalized astar

This commit is contained in:
Maksymilian Mikołajczak 2023-05-05 12:13:47 +02:00
parent ba2ed3705d
commit 9d9c1aaa4c
1 changed files with 2 additions and 2 deletions
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4
astar.py
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@ -17,9 +17,9 @@ def astar(istate, goalx, goaly, passedFields):
return steps
element = successors(state, passedFields, goalx, goaly)
explored.add((state.xpos, state.ypos, state.orientation, state.priority))
explored.add((state.xpos, state.ypos, state.orientation))
for value in element:
val = (value.xpos, value.ypos, value.orientation, value.priority)
val = (value.xpos, value.ypos, value.orientation)
if val in explored:
continue
cost = state.priority + value.priority