def do_a_star_search():
start_node = Node(start)
start_node.G = 0
start_node.H = heuristic(start_node.coordinates)
open_set = [((start_node.G + start_node.H), start_node)
] # has (fCost, Node)
end_node = Node(end)
end_node.H = 0
closed_set = set() # has (x,y)
while len(open_set) != 0:
current_tup = get_lowest(open_set)
open_set.remove(current_tup)
current_node = current_tup[1]
if current_node.coordinates == end_node.coordinates:
distance = get_path(current_node)
return distance
temp_tuple = (current_node.coordinates[0], current_node.coordinates[1])
closed_set.add(temp_tuple)
neighbours = get_neighbours_nodes(current_node)
for n in neighbours:
if current_tup[1].coordinates == n[1].coordinates:
neighbours.remove(n)
continue
cost = current_node.G + n[1].G
if set_compare(n, open_set) and (cost < n[1].G):
open_set = delete_node(n, open_set)
if ((n[1].coordinates[0], n[1].coordinates[1])
in closed_set) and (cost < n[1].G):
closed_set.remove((n[1].coordinates[0], n[1].coordinates[1]))
if (not set_compare(n, open_set)) and (
(n[1].coordinates[0], n[1].coordinates[1]) not in closed_set):
n[1].G = cost
n[1].parent = current_node
open_set.append(n)
def get_neighbours_nodes(this_node, a=1): # [i,j]
x, y = this_node.coordinates[0], this_node.coordinates[1]
operations = range(-a, (a + 1))
allX, allY = [], []
for values_individual in operations:
if -1 < (x + int(values_individual)) < 395:
allX.append(x + int(values_individual))
if -1 < (y + int(values_individual)) < 500:
allY.append(y + int(values_individual))
result = []
for xx in allX:
for yy in allY:
newNode = Node([xx, yy])
newNode.H = heuristic([xx, yy])
newNode.G = path_cost(this_node.coordinates, [xx, yy])
if not newNode.coordinates == this_node.coordinates:
result.append(((newNode.H + newNode.G), newNode))
return result
