if __name__ == '__main__':
# Start and goal positions of the robot
start_position = MapPoint(6, 1) # Column (x) 6 and row (y) 1
goal_position = MapPoint(1, 6) # Column (x) 1 and row (y) 6
# Create graph with associated grid map
map_graph = Graph('map.png', goal_position)
# Create root node at the given position
# map_graph - graph this node belongs to
# None - no parent
# 0 - no cost
# heuristic function
# start_position
# None - no action needed to reach this node
root = Node(map_graph, None, 0, heuristic, start_position, None)
map_graph.addNode(root, True)
# Perform the map search and, if successful, show the resulting path in the
# terminal output as text
if(doSearch(map_graph, root, goal_position, SearchMethods.A_STAR)):
map_graph.showGraph()
map_graph.showPath(goal_position)
else:
eprint('There is no solution for the specified problem!')
# We're done, lets leave successfully, after pressing any key
# Keep figures open until the user presses 'q' to quit. This is a blocking
# statement
plt.show()
