def main():
# Usability
fname = input("File Name -> ")
heurT = input("Heuristic Type (A or B) -> ")
# Initialize from file and create a search manager object.
rootNode, goalMap = InitFromFile(fname, heurT)
search = AStar.AStarSearch(rootNode, goalMap)
print("Initial Heuristic:", rootNode.heu)
# Some terminal output for verbose operation
print("--- GOAL ---")
print(goalMap)
print()
print(rootNode)
result = search.doSearch()
output = GenerateOutput(rootNode, search, result)
print("\n", "********************************", "\n")
print(output)
print("\n", "********************************", "\n")
#Write results to file if output name is specified.
fname = ""
fname = input("Output File Name (or ENTER to skip) -> ")
if (fname != ""):
writeout = open(fname, "w+")
writeout.write(output)
writeout.close()
print("Saved.")
else:
print("Not saved.")
def __init__(self,
controller,
width=20,
height=20,
obstacle_map=[(3, 3)],
start=(1, 1),
end=(5, 5),
behind=(0, 0)):
super().init(controller)
"""
width and height in matrix size (width(cm) / spacing(cm))
obstacle_map is location of obstacles in matrix coordinates
behind is matrix location behind robot
"""
self.graph = alg.AStarGraph(obstacles=obstacle_map,
width=width,
height=height)
self.result, self.cost = alg.AStarSearch(navPoints=[start, end],
behind=behind,
graph=self.graph)
print("init pathingstate")
