def findPath(self, start, goal) :
""" start : (float,float), goal : (float,float,float) or (float,float)
uses the AStar class to find the shortest path between 'start' and 'goal'
then simplifies the path to obtain straight lines as long as possible
"""
if len(goal) == 2 :
goal = goal + (0,) # default value of 'goalRadius' is 0
a = AStar(start, goal, self.thresholdMap)
print "Résultat de A*: " + str(a.aStar())
p = a.buildPath()
if p == None :
self.path == None
else :
l = len(p)
current = l-1
self.path = [p[current]]
while current > 0:
i = 0
while i+1 < current and not self.isLineClear(p[current], p[i]) :
i += 1
current = i
self.path.insert(0,p[current])
def findPath(self, start, goal):
""" start : (float,float), goal : (float,float,float) or (float,float)
uses the AStar class to find the shortest path between 'start' and 'goal'
then simplifies the path to obtain straight lines as long as possible
"""
if len(goal) == 2:
goal = goal + (0, ) # default value of 'goalRadius' is 0
a = AStar(start, goal, self.thresholdMap)
print "Résultat de A*: " + str(a.aStar())
p = a.buildPath()
if p == None:
self.path == None
else:
l = len(p)
current = l - 1
self.path = [p[current]]
while current > 0:
i = 0
while i + 1 < current and not self.isLineClear(
p[current], p[i]):
i += 1
current = i
self.path.insert(0, p[current])
