def Run(self): f = open("de.txt", "w") gridSize = self.gridSize mat = [[0 for i in range(gridSize)] for j in range(gridSize)] for i in range(gridSize): for j in range(gridSize): if self.canvas.itemcget(self.grid[i][j], "fill") == 'black': mat[i][j] = 1 f.write(str(mat[i][j])) f.write(" ") f.write("\n") si = self.startNode.pos.i sj = self.startNode.pos.j gi = self.goalNode.pos.i gj = self.goalNode.pos.j if self.str_algo != "ARA*": myMap = algo.Map() myMap.create(gridSize, mat, si, sj, gi, gj) flagFind = algo.AStar(myMap, self) if flagFind: res = self.tracking(myMap) messagebox.showinfo("Message", "Complete finding path") else: messagebox.showinfo("Message", "No path!") else: myMap = ara.Map() myMap.create(gridSize, mat, si, sj, gi, gj) ara.ARA(myMap, 2.5, 0.5, self) messagebox.showinfo("Message", "Complete finding path") f.close()
occupancyGrid[8:10, 2:6] = 1 occupancyGrid[4:6, 6:8] = 1 occupancyGrid[6, 5:7] = 1 occupancyGrid[10:12, 7:10] = 1 occupancyGrid[11, 0:3] = 1 occupancyGrid[11:15, 4:6] = 1 occupancyGrid[13:15, 2:5] = 1 occupancyGrid[15, 3:5] = 1 occupancyGrid[16:18, 3] = 1 occupancyGrid[18:20, 5] = 1 occupancyGrid[14, 7:9] = 1 occupancyGrid[16, 7:10] = 1 adjacency = 8 carte = AStar.Map(dimX, dimY, adjacency) carte.initCoordinates() carte.loadOccupancy(occupancyGrid) carte.generateGraph() carte.plot(10) epsilon = 1 print "A* algorithm running ..." closedList, successFlag = carte.AStarFindPath(0, 199, epsilon) #print closedList if (successFlag == True): print " - A* terminated with success: path found" path = carte.builtPath(closedList)