AStar.py

@@ -173,7 +173,7 @@ def succ3A(state):
 
 def heuristic2(state, goal):
     # Oblicz odległość Manhattanowską między aktualnym stanem a celem
-    manhattan_distance = (abs(state['x'] - goal[0]) + abs(state['y'] - goal[1])) * 5.5
+    manhattan_distance = (abs(state['x'] - goal[0]) + abs(state['y'] - goal[1])) * 2.5
     return manhattan_distance
 
 
@@ -256,3 +256,29 @@ def A_star2(istate, pole, goalTreasure):
                 quit()
 
     return False
+
+"""
+TO TEST SPEED OF ASTAR
+
+test_speed = False
+
+            if test_speed:
+                time1 = 0
+                time2 = 0
+                cost1 = 0
+                cost2 = 0
+                for i in range(500):
+                    print(i)
+                    start = time.time()
+                    aStarRoot, cost_list, total_cost = AStar.A_star({'x': 0, 'y': 0, 'direction': "E"}, pole, goalTreasure)
+                    end = time.time()
+                    time1 += end - start
+                    cost1 += total_cost
+                    start = time.time()
+                    aStarRoot2, cost_list, total_cost = AStar.A_star2({'x': 0, 'y': 0, 'direction': "E"}, pole, goalTreasure)
+                    end = time.time()
+                    time2 += end - start
+                    cost2 += total_cost
+                print(time1, time2)
+                print(float(cost1 / 1000), float(cost2 / 1000))
+"""