151 lines
5.5 KiB
Python
151 lines
5.5 KiB
Python
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from truck import Truck
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class Node():
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def __init__(self, parent=None, position=None):
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self.parent = parent
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self.position = position
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self.g = 0
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self.h = 0
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self.f = 0
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def __eq__(self, other):
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return self.position == other.position
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def astar(maze, start, end):
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start_node = Node(position=start)
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end_node = Node(position=end)
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x=0
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open_list = []
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closed_list = []
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open_list.append(start_node)
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while len(open_list) > 0:
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current_node = open_list[0]
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current_index = 0
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for index, item in enumerate(open_list):
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if item.f < current_node.f:
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current_node = item
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current_index = index
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open_list.pop(current_index)
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closed_list.append(current_node)
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if current_node == end_node:
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path = []
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current = current_node
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while current is not None:
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path.append(current.position)
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if (maze[current.position[0]][current.position[1]] == 1):
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x = x + 1
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if (maze[current.position[0]][current.position[1]] == 2):
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x = x + 3
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if (maze[current.position[0]][current.position[1]] == 6):
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x = x + 20
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if (maze[current.position[0]][current.position[1]] == 7):
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x = x + 5
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if (maze[current.position[0]][current.position[1]] == 8):
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x = x + 1
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current = current.parent
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return path[::-1]
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#return x
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children = []
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for new_position in [(0, -1), (0, 1), (-1, 0), (1, 0)]:
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node_position = (
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current_node.position[0] + new_position[0], current_node.position[1] + new_position[1])
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if node_position[0] > (len(maze) - 1) or node_position[0] < 0 or node_position[1] > (len(maze[len(maze)-1]) - 1) or node_position[1] < 0:
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continue
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if Node(current_node, node_position) in closed_list:
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continue
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if maze[node_position[0]][node_position[1]] == 9:
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continue
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new_node = Node(current_node, node_position)
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children.append(new_node)
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for child in children:
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for closed_child in closed_list:
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if child == closed_child:
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continue
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if(maze[child.position[0]][child.position[1]]==1):
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child.g = 1
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if(maze[child.position[0]][child.position[1]]==2):
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child.g = 3
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if(maze[child.position[0]][child.position[1]]==6):
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child.g = 20
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if(maze[child.position[0]][child.position[1]]==7):
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child.g = 5
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if(maze[child.position[0]][child.position[1]]==8):
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child.g = 1
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child.h = ((child.position[0] - end_node.position[0]) **
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2) + ((child.position[1] - end_node.position[1]) ** 2)
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child.f = child.g + child.h
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for open_node in open_list:
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if child == open_node and child.g > open_node.g:
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continue
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open_list.append(child)
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def main():
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maze = [[9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9],
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[9, 9, 9, 9, 9, 1, 1, 9, 9, 9, 1, 1, 1, 9, 9, 9, 1,
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1, 9, 9, 1, 1, 1, 9, 9, 1, 1, 9, 1, 1, 9, 9],
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[9, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 9, 1, 1,
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8, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 9],
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[9, 1, 1, 1, 2, 1, 1, 6, 1, 1, 1, 1, 1, 1, 1, 1, 9,
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1, 0, 1, 7, 1, 1, 1, 9, 1, 1, 1, 1, 1, 1, 9],
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[9, 1, 1, 1, 1, 9, 9, 9, 9, 9, 9, 1, 1, 1, 1, 9, 9,
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9, 9, 9, 1, 1, 1, 1, 1, 1, 1, 1, 1, 9, 9, 9],
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[9, 9, 9, 1, 1, 1, 1, 9, 1, 1, 1, 1, 1, 1, 1, 2, 1,
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1, 1, 1, 9, 6, 6, 9, 1, 1, 2, 1, 1, 9, 1, 9],
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[9, 1, 1, 1, 1, 1, 1, 9, 1, 1, 1, 1, 1, 1, 1, 1, 1,
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1, 1, 9, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 9],
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[9, 1, 1, 1, 9, 9, 9, 9, 9, 1, 1, 1, 1, 1, 9, 9, 9,
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9, 9, 9, 9, 1, 1, 1, 1, 1, 1, 1, 1, 1, 9, 9],
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[9, 1, 1, 1, 1, 1, 1, 9, 9, 9, 9, 9, 9, 1, 1, 1, 1,
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1, 9, 1, 1, 1, 1, 1, 9, 1, 1, 1, 1, 1, 1, 9],
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[9, 1, 1, 1, 1, 9, 1, 1, 1, 1, 1, 1, 9, 1, 1, 1, 9,
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9, 9, 7, 6, 9, 9, 9, 9, 6, 2, 1, 9, 9, 9, 9],
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[9, 1, 1, 1, 1, 1, 1, 9, 1, 1, 1, 1, 1, 1, 1, 1, 1,
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1, 9, 1, 1, 1, 1, 1, 9, 1, 1, 1, 1, 1, 1, 9],
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[9, 1, 1, 1, 9, 9, 9, 9, 9, 1, 1, 9, 9, 9, 1, 1, 9,
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9, 9, 1, 1, 1, 1, 1, 9, 1, 1, 1, 1, 1, 1, 9],
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[9, 1, 1, 1, 1, 1, 9, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
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1, 1, 2, 1, 1, 9, 9, 1, 9, 1, 1, 7, 1, 1, 9],
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[9, 1, 1, 1, 1, 1, 0, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1,
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1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 9],
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[9, 1, 1, 9, 1, 1, 9, 9, 9, 1, 9, 1, 1, 1, 9, 9, 9,
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1, 1, 1, 1, 1, 9, 1, 1, 1, 9, 9, 1, 1, 1, 9],
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[9, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 9, 1, 1, 2, 1,
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1, 1, 1, 9, 9, 9, 9, 1, 1, 1, 2, 1, 1, 9, 9],
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[9, 1, 1, 1, 9, 9, 9, 9, 1, 1, 1, 1, 1, 1, 9, 1, 1,
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1, 9, 1, 1, 9, 9, 1, 1, 1, 1, 1, 1, 1, 1, 9],
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[9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9]]
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start = (13, 7)
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end = (3, 18)
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path = astar(maze, start, end)
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print(path)
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return path
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if __name__ == '__main__':
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main()
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