def solve(num_arr, start, end):
goal = vertex.Vertex(end, 0)
# g is now cost
g = {}
g[utils.coord_id(start)] = 0
parent = {}
parent[utils.coord_id(start)] = start
fr = fringe.Fringe()
fr.insert(vertex.Vertex(start, 0))
closed = set()
while len(fr) != 0:
s = fr.pop()
s_c = [s.x, s.y]
if s == goal:
path = utils.goal_path(start, end, parent)
return True, path, g, len(closed)
closed.add(s)
for s_p in utils.succ(num_arr,s, closed):
sp_c = [s_p.x, s_p.y]
sp_cid = utils.coord_id(sp_c)
ch_cost = s.g_h + utils.cost(num_arr,s_c, sp_c)
if s_p not in fr.to_list() and s_p not in closed:
g[sp_cid] = ch_cost
parent[sp_cid] = s_c
fr.insert(vertex.Vertex(sp_c, ch_cost))
elif s_p in fr.to_list() and ch_cost < s.g_h:
fr.update(s_p, ch_cost)
g[sp_cid] = ch_cost
parent[sp_cid] = s_c
return False, [], [], len(closed)
def solve(num_arr, start, end, w=1):
goal = vertex.Vertex(end, 0)
g = {}
g[utils.coord_id(start)] = 0
g_h_f = {}
g_h_f[utils.coord_id(start)] = [0, heur(start, end), w * heur(start, end)]
parent = {}
parent[utils.coord_id(start)] = start
fr = fringe.Fringe()
fr.insert(vertex.Vertex(start,
g[utils.coord_id(start)] + heur(start, end)))
closed = set()
while len(fr) != 0:
s = fr.pop()
if s == goal:
path = utils.goal_path(start, end, parent)
return True, path, g_h_f, len(closed)
closed.add(s)
for s_p in utils.succ(num_arr, s, closed):
if s_p not in fr.to_list():
sp_cid = utils.coord_id([s_p.x, s_p.y])
g[sp_cid] = math.inf
parent[sp_cid] = None
update_vertex(s, s_p, g, parent, fr, end, num_arr, w, g_h_f)
return False, [], [], len(closed)
def solve(num_arr, start, end, w=[1, 1.25]):
# open_i
fr = []
# closed_i
closed = []
#g_i
g = []
#bp_i
parent = []
# stuff to display
g_h_f = []
goal = vertex.Vertex(end, 0)
for i in range(n):
g.append({})
g[i][utils.coord_id(start)] = 0
g[i][utils.coord_id(end)] = math.inf
parent.append({})
g_h_f.append({})
parent[i][utils.coord_id(start)] = start
parent[i][utils.coord_id(end)] = None
fr.append(fringe.Fringe(False))
fr[i].insert(vertex.Vertex(start, key(start, i, g, end, w, g_h_f)))
closed.append(set())
goal_cid = utils.coord_id(end)
while fr[0].minkey().g_h < math.inf:
for i in range(n):
if fr[i].minkey().g_h <= w[1] * fr[i].minkey().g_h:
if g[i][goal_cid] <= fr[i].minkey().g_h:
if g[i][goal_cid] < math.inf:
avg_expanded = [len(y) for y in closed]
return True, utils.goal_path(
start, end,
parent[i]), g_h_f[i], np.mean(avg_expanded)
else:
s = fr[i].top()
expand_state(s, i, fr, g, parent, num_arr, closed, end, w,
g_h_f)
closed[i].add(s)
else:
if g[0][goal_cid] <= fr[0].minkey().g_h:
if g[0][goal_cid] < math.inf:
avg_expanded = [len(y) for y in closed]
return True, utils.goal_path(
start, end,
parent[i]), g_h_f[0], np.mean(avg_expanded)
else:
s = fr[i].top()
expand_state(s, 0, fr, g, parent, num_arr, closed, end, w,
g_h_f)
closed[0].add(s)
return False, [], []
def update_vertex(s, s_p, g, parent, fr, end, num_arr, w, g_h_f):
s_c = [s.x, s.y]
sp_c = [s_p.x, s_p.y]
s_cid = utils.coord_id(s_c)
sp_cid = utils.coord_id(sp_c)
next_cost = utils.cost(num_arr, s_c, sp_c)
if g[s_cid] + next_cost < g[sp_cid]:
g[sp_cid] = g[s_cid] + next_cost
parent[sp_cid] = s_c
if s_p in fr.to_list():
fr.remove(sp_c)
g_c = g[sp_cid]
h_c = heur(sp_c, end)
f_c = g_c + w * h_c
g_h_f[utils.coord_id(sp_c)] = [g_c, h_c, f_c]
fr.insert(vertex.Vertex(sp_c, f_c))
def upd_vert(self, s, g_h):
cid = utils.coord_id(s)
for obj in self.fringe[:]:
if cid == obj.cid:
obj.g_h = g_h
heapq.heapify(self.fringe)
return True
return False
def expand_state(s, i, fr, g, parent, num_arr, closed, end, w, g_h_f):
s_c = [s.x, s.y]
s_cid = utils.coord_id(s_c)
fr[i].remove(s_c)
for s_p in utils.succ(num_arr, s, closed[i]):
sp_c = [s_p.x, s_p.y]
sp_cid = utils.coord_id(sp_c)
tmp_cost = utils.cost(num_arr, s_c, sp_c)
# may be wrong
if s_p not in fr[i].to_list():
g[i][sp_cid] = math.inf
parent[i][sp_cid] = None
if g[i][sp_cid] > g[i][s_cid] + tmp_cost:
g[i][sp_cid] = g[i][s_cid] + tmp_cost
parent[i][sp_cid] = s_c
if s_p not in closed[i]:
fr[i].insert(
vertex.Vertex(sp_c, key(sp_c, i, g, end, w, g_h_f)))
def key(s, i, g, end, w, g_h_f):
g_i = g[i][utils.coord_id(s)]
# hueristic 1
if i == 0:
h_c = heur1(s, end)
f_c = g_i + w[0] * h_c
g_h_f[i][utils.coord_id(s)] = [g_i, h_c, f_c]
return f_c
# hueristic 2
if i == 1:
h_c = heur2(s, end)
f_c = g_i + w[0] * h_c
g_h_f[i][utils.coord_id(s)] = [g_i, h_c, f_c]
return f_c
# hueristic 3
if i == 2:
h_c = heur3(s, end)
f_c = g_i + w[0] * h_c
g_h_f[i][utils.coord_id(s)] = [g_i, h_c, f_c]
return f_c
# hueristic 4
if i == 3:
h_c = heur4(s, end)
f_c = g_i + w[0] * h_c
g_h_f[i][utils.coord_id(s)] = [g_i, h_c, f_c]
return f_c
# hueristic 5
if i == 4:
h_c = heur5(s, end)
f_c = g_i + w[0] * h_c
g_h_f[i][utils.coord_id(s)] = [g_i, h_c, f_c]
return f_c
filename = 'grid' + str(j + 1) + '_' + str(k + 1) + ".txt"
grid, start, end, regions = utils.load_file(filename)
opt_path = a_star.min_d(start,end)
start1 = time.time()
solved1, path1, g_h_f1, expanded1 = a_star_seq.solve(grid, start, end, [1.5, 1.5])
end1 = time.time()
start2 = time.time()
solved2, path2, g_h_f2, expanded2 = a_star_seq.solve(grid, start, end, [2, 2])
end2= time.time()
start3 = time.time()
solved3, path3, g_h_f3, expanded3 = a_star_seq.solve(grid, start, end, [3, 3])
end3 = time.time()
tot_runtime_a += end1 - start1
tot_runtime_b += end2 - start2
tot_runtime_c += end3 - start3
avg_path_perf_a += g_h_f1[utils.coord_id(end)][0] / opt_path
avg_path_perf_b += g_h_f2[utils.coord_id(end)][0] / opt_path
avg_path_perf_c += g_h_f3[utils.coord_id(end)][0] / opt_path
avg_nodes_a += expanded1
avg_nodes_b += expanded2
avg_nodes_c += expanded3
print("STATS FOR weighted A* seq w=[1.5, 1.5]")
print("File: " + filename)
print("Runtime: " + str(tot_runtime_a))
print("G-Value: " + str(g_h_f1[utils.coord_id(end)][0]))
print("Nodes expanded: " + str(avg_nodes_a))
print("--------------------------------")
print("STATS FOR weighted A* seq w=[2, 2]")
print("File: " + filename)
print("Runtime: " + str(tot_runtime_b))
print("G-Value: " + str(g_h_f2[utils.coord_id(end)][0]))
def __init__(self, point, g_h):
self.x = point[0]
self.y = point[1]
self.g_h = g_h
self.cid = utils.coord_id(point)
def get_vert(self, s):
cid = utils.coord_id(s)
for obj in self.fringe[:]:
if cid == obj.cid:
return obj