def get_route_astar_funk(events, dist_matrix, time_in, time_out, copy_dist_matrix):
graph, nodes = make_graph(len(events), len(events), events)
paths = AStarGrid(graph)
start, end = nodes[0][0], nodes[len(events) - 1][len(events) - 1]
path = paths.search(time_in, time_out, start, end, dist_matrix, copy_dist_matrix, events)
return path
# http://scriptogr.am/jdp/post/pathfinding-with-python-graphs-and-a-star
from astar_grid import AStarGrid, AStarGridNode
from itertools import product
# def make_graph(mapinfo):
def make_graph(width, height):
# nodes = [[AStarGridNode(x, y) for y in range(mapinfo.height)] for x in range(mapinfo.width)]
nodes = [[AStarGridNode(x, y) for y in range(height)] for x in range(width)]
graph = {}
for x, y in product(range(width), range(height)):
node = nodes[x][y]
graph[node] = []
for i, j in product([-1, 0, 1], [-1, 0, 1]):
if not (0 <= x + i < width): continue
if not (0 <= y + j < height): continue
graph[nodes[x][y]].append(nodes[x+i][y+j])
return graph, nodes
graph, nodes = make_graph(8, 8)
paths = AStarGrid(graph)
start, end = nodes[1][1], nodes[5][7]
path = paths.search(start, end)
if path is None:
print "No path found"
else:
print "Path found:", path
from itertools import product
def make_graph(mapinfo):
nodes = [[AStarGridNode(x, y) for y in range(mapinfo['height'])]
for x in range(mapinfo['width'])]
graph = {}
for x, y in product(range(mapinfo['width']), range(mapinfo['height'])):
node = nodes[x][y]
graph[node] = []
for i, j in product([-1, 0, 1], [-1, 0, 1]):
if not (0 <= x + i < mapinfo['width']): continue
if not (0 <= y + j < mapinfo['height']): continue
if [x + i, y + j] in mapinfo['obstacle']: continue
graph[nodes[x][y]].append(nodes[x + i][y + j])
return graph, nodes
graph, nodes = make_graph({
"width": 8,
"height": 8,
"obstacle": [[2, 5], [3, 5], [4, 5], [5, 5]]
})
paths = AStarGrid(graph)
start, end = nodes[1][1], nodes[5][7]
path = paths.search(start, end)
if path is None:
print "No path found"
else:
print "Path found:", path
