gridValues = [[0 for y in range(GRID_HEIGHT)] for x in range(GRID_WIDTH)] currentRobotPositions = [(1,1,),(5,20),(10,40)] numRobots = len(currentRobotPositions) for r in range(0,numRobots): fillRobotSpace(gridValues,currentRobotPositions[r],ROBOT_SIZE,r+4) insertObtsacles(40, gridValues, OBSTACLE_SIZE, AStar.OBSTACLE_VAL) goalPos = insertFinishPt(AStar.FINISH_PT_VAL, gridValues,FINISH_PT_SIZE) aStarProb = AStar(gridValues,currentRobotPositions[0],goalPos,ROBOT_SIZE) NUM_STEPS = 10 NUM_ITERATIONS = 12 for i in range(0,NUM_ITERATIONS): for r in range(0,numRobots): if(currentRobotPositions[r] != None): aStarProb.robotStartPos = currentRobotPositions[r] aStarProb.robotId = r + 4 directions = aStarProb.getDirectionsToGoal() #print directions nextPos = aStarProb.fillGridWithDirections(directions,NUM_STEPS,gridValues) #print nextPos currentRobotPositions[r] = nextPos printGrid(gridValues)
currentRobotPositions = [( 1, 1, ), (5, 20), (10, 40)] numRobots = len(currentRobotPositions) for r in range(0, numRobots): fillRobotSpace(gridValues, currentRobotPositions[r], ROBOT_SIZE, r + 4) insertObtsacles(40, gridValues, OBSTACLE_SIZE, AStar.OBSTACLE_VAL) goalPos = insertFinishPt(AStar.FINISH_PT_VAL, gridValues, FINISH_PT_SIZE) aStarProb = AStar(gridValues, currentRobotPositions[0], goalPos, ROBOT_SIZE) NUM_STEPS = 10 NUM_ITERATIONS = 12 for i in range(0, NUM_ITERATIONS): for r in range(0, numRobots): if (currentRobotPositions[r] != None): aStarProb.robotStartPos = currentRobotPositions[r] aStarProb.robotId = r + 4 directions = aStarProb.getDirectionsToGoal() #print directions nextPos = aStarProb.fillGridWithDirections(directions, NUM_STEPS, gridValues) #print nextPos currentRobotPositions[r] = nextPos printGrid(gridValues)