def a_star(self):
que = MyQueue() # kolejka wierzchołków do sprawdzenia
finished = MyQueue() # kolejka skończonych
counter = 0
added_to_frontier = []
que.insert(
Vertex(index=self.start,
previous=-1,
graph_distance=0,
heuristic_distance=self.manhattan(self.start, self.target),
path=''))
added_to_frontier.append(self.start)
while not que.is_empty():
current = que.remove()
counter += 1
current.considered = counter
if current.index != self.target:
for child in self.adjacency_list[current.index]:
if not que.contains(child[0]) and not finished.contains(
child[0]):
que.insert(
Vertex(
index=child[0],
previous=current.index,
graph_distance=current.graph_distance +
int(child[1]),
heuristic_distance=self.manhattan(
child[0], self.target),
path=
f'{current.path}{LETTER_INDEXES[current.index]} -> '
))
added_to_frontier.append(child[0])
elif que.contains(child[0]):
if current.distance + child[1] < que[
child[0]].distance:
que.set_distance(child[0],
current.distance + child[1])
que.set_previous(
child[0],
current.index) # aktualizuj poprzednika
que.set_path(
child[0],
f'{current.path}{LETTER_INDEXES[current.index]} -> '
) # aktualizuj sciezke
finished.insert(current)
else:
while not que.is_empty():
finished.insert(que.remove())
for index in added_to_frontier:
print(f'{finished[index].considered}, {finished[index]}')
print(
f'najkrótsza znaleziona ścieżka z {LETTER_INDEXES[self.start]} do {LETTER_INDEXES[self.target]}:'
)
print(str(current.path) + str(LETTER_INDEXES[self.target]))
return str(current.path) + str(LETTER_INDEXES[self.target])
for index in added_to_frontier:
print(f'{finished[index].considered}, {finished[index]}')
print('ścieżka nie została odnaleziona')
return 'brak ścieżki'
