def aaStar(self, gameState, whereLostFood):
from util import PriorityQueue
from util import manhattanDistance
closed = []
directions = {}
costs = {}
priorityQ = PriorityQueue()
priorityQ.push(gameState, 0)
startState = gameState.getAgentState(self.index)
startPosition = startState.getPosition()
closed.append(startPosition)
directions[startPosition] = []
costs[startPosition] = 0
while not priorityQ.isEmpty():
cur_State = priorityQ.pop()
cur_Position = cur_State.getAgentState(self.index).getPosition()
actions = cur_State.getLegalActions(self.index)
if cur_Position == whereLostFood:
return directions[cur_Position]
for action in actions:
nextState = self.getSuccessor(cur_State, action)
nextPosition = nextState.getAgentState(
self.index).getPosition()
Actions = directions[cur_Position][:]
nextCost = costs[cur_Position] + 1
if nextPosition not in closed or nextCost < costs[nextPosition]:
costs[nextPosition] = nextCost
directions[nextPosition] = []
Actions.append(action)
directions[nextPosition].extend(Actions)
closed.append(nextPosition)
g = nextCost
h = manhattanDistance(nextPosition, whereLostFood)
f = g + h
priorityQ.push(nextState, f)
return []
