astar_search.py

@@ -37,7 +37,7 @@ class Search:
         cost = 0
         # cost += 10 if stones[node.state[0], node.state[1]] == 1 else 1
         cost += 1000 if (node.state[0], node.state[1]) in stones else 1
-        cost += 30 if ((node.state[0]), (node.state[1])) in flowers else 1
+        cost += 300 if ((node.state[0]), (node.state[1])) in flowers else 1
 
         if node.parent:
             node = node.parent
@@ -48,7 +48,7 @@ class Search:
         return abs(node.state[0] - goal[0]) + abs(node.state[1] - goal[1])
 
     #bandaid to know about stones
-    def astarsearch(self, istate, goaltest, stones, flowers):
+    def astarsearch(self, istate, goaltest, cStones, cFlowers):
         
         #to be expanded
         def cost_old(x, y):
@@ -62,6 +62,11 @@ class Search:
         y = istate[1]
         angle = istate[2]
 
+        stones = [(x*50, y*50) for (x, y) in cStones]
+        flowers = [(x*50, y*50) for (x, y) in cFlowers]
+
+        print(stones)
+
         # fringe = [(Node([x, y, angle]), cost_old(x, y))]  # queue (moves/states to check)
         fringe = [(Node([x, y, angle]))]  # queue (moves/states to check)
         fringe[0].distance = self.cost(fringe[0], stones, goaltest, flowers)

blocks.py

@@ -31,8 +31,6 @@ class Blocks:
 
         self.soil = soil.Soil()
 
-        self.stones = set()
-        #bandaid to let astar know about stones
 
     def locate_blocks(self, blocks_number, cell_number, body):
         for i in range(blocks_number):
@@ -53,8 +51,6 @@ class Blocks:
                 self.parent_screen.blit(self.alive_leaf_image, (x, y))
             if color == 'stone':
                 self.parent_screen.blit(self.stone_image, (x, y))
-                #bandaid to let astar know about stones
-                self.stones.add((x, y))
             if color == 'flower':
                 self.parent_screen.blit(self.flower_image, (x, y))
             if color == 'fawn_seed':

main.py

@@ -108,7 +108,7 @@ class Game:
                         angles = {0: 'UP', 90: 'RIGHT', 270: 'LEFT', 180: 'DOWN'}
                         #bandaid to know about stones
                         tractor_next_moves = astar_search_object.astarsearch(
-                            [self.tractor.x, self.tractor.y, angles[self.tractor.angle]], [random_x, random_y], self.blocks.stones, self.flower_body)
+                            [self.tractor.x, self.tractor.y, angles[self.tractor.angle]], [random_x, random_y], self.stone_body, self.flower_body)
                     else:
                         self.tractor.move(tractor_next_moves.pop(0)[0], self.cell_size, self.cell_number)
                 elif event.type == QUIT: