def solve(num_arr, start, end, w=1):
goal = vertex.Vertex(end, 0)
g = {}
g[utils.coord_id(start)] = 0
g_h_f = {}
g_h_f[utils.coord_id(start)] = [0, heur(start, end), w * heur(start, end)]
parent = {}
parent[utils.coord_id(start)] = start
fr = fringe.Fringe()
fr.insert(vertex.Vertex(start,
g[utils.coord_id(start)] + heur(start, end)))
closed = set()
while len(fr) != 0:
s = fr.pop()
if s == goal:
path = utils.goal_path(start, end, parent)
return True, path, g_h_f
closed.add(s)
for s_p in utils.succ(num_arr, s, closed):
if s_p not in fr.to_list():
sp_cid = utils.coord_id([s_p.x, s_p.y])
g[sp_cid] = math.inf
parent[sp_cid] = None
update_vertex(s, s_p, g, parent, fr, end, num_arr, w, g_h_f)
return False, [], []
def solve(num_arr, start, end, w=[1, 1.25]):
# open_i
fr = []
# closed_i
closed = []
#g_i
g = []
#bp_i
parent = []
# stuff to display
g_h_f = []
goal = vertex.Vertex(end, 0)
for i in range(n):
g.append({})
g[i][utils.coord_id(start)] = 0
g[i][utils.coord_id(end)] = math.inf
parent.append({})
g_h_f.append({})
parent[i][utils.coord_id(start)] = start
parent[i][utils.coord_id(end)] = None
fr.append(fringe.Fringe(False))
fr[i].insert(vertex.Vertex(start, key(start, i, g, end, w, g_h_f)))
closed.append(set())
goal_cid = utils.coord_id(end)
while fr[0].minkey().g_h < math.inf:
for i in range(n):
if fr[i].minkey().g_h <= w[1] * fr[i].minkey().g_h:
if g[i][goal_cid] <= fr[i].minkey().g_h:
if g[i][goal_cid] < math.inf:
return True, utils.goal_path(start, end,
parent[i]), g_h_f[i]
else:
s = fr[i].top()
expand_state(s, i, fr, g, parent, num_arr, closed, end, w,
g_h_f)
closed[i].add(s)
else:
if g[0][goal_cid] <= fr[0].minkey().g_h:
if g[0][goal_cid] < math.inf:
return True, utils.goal_path(start, end,
parent[i]), g_h_f[0]
else:
s = fr[i].top()
expand_state(s, 0, fr, g, parent, num_arr, closed, end, w,
g_h_f)
closed[0].add(s)
return False, [], []
def update_vertex(s, s_p, g, parent, fr, end, num_arr, w, g_h_f):
s_c = [s.x, s.y]
sp_c = [s_p.x, s_p.y]
s_cid = utils.coord_id(s_c)
sp_cid = utils.coord_id(sp_c)
next_cost = utils.cost(num_arr, s_c, sp_c)
if g[s_cid] + next_cost < g[sp_cid]:
g[sp_cid] = g[s_cid] + next_cost
parent[sp_cid] = s_c
if s_p in fr.to_list():
fr.remove(sp_c)
g_c = g[sp_cid]
h_c = heur(sp_c, end)
f_c = g_c + w * h_c
g_h_f[utils.coord_id(sp_c)] = [g_c, h_c, f_c]
fr.insert(vertex.Vertex(sp_c, f_c))
def upd_vert(self, s, g_h): cid = utils.coord_id(s) for obj in self.fringe[:]: if cid == obj.cid: obj.g_h = g_h heapq.heapify(self.fringe) return True return False
def expand_state(s, i, fr, g, parent, num_arr, closed, end, w, g_h_f):
s_c = [s.x, s.y]
s_cid = utils.coord_id(s_c)
fr[i].remove(s_c)
for s_p in utils.succ(num_arr, s, closed[i]):
sp_c = [s_p.x, s_p.y]
sp_cid = utils.coord_id(sp_c)
tmp_cost = utils.cost(num_arr, s_c, sp_c)
# may be wrong
if s_p not in fr[i].to_list():
g[i][sp_cid] = math.inf
parent[i][sp_cid] = None
if g[i][sp_cid] > g[i][s_cid] + tmp_cost:
g[i][sp_cid] = g[i][s_cid] + tmp_cost
parent[i][sp_cid] = s_c
if s_p not in closed[i]:
fr[i].insert(
vertex.Vertex(sp_c, key(sp_c, i, g, end, w, g_h_f)))
def key(s, i, g, end, w, g_h_f):
g_i = g[i][utils.coord_id(s)]
# hueristic 1
if i == 0:
h_c = heur1(s, end)
f_c = g_i + w[0] * h_c
g_h_f[i][utils.coord_id(s)] = [g_i, h_c, f_c]
return f_c
# hueristic 2
if i == 1:
h_c = heur2(s, end)
f_c = g_i + w[0] * h_c
g_h_f[i][utils.coord_id(s)] = [g_i, h_c, f_c]
return f_c
# hueristic 3
if i == 2:
h_c = heur3(s, end)
f_c = g_i + w[0] * h_c
g_h_f[i][utils.coord_id(s)] = [g_i, h_c, f_c]
return f_c
# hueristic 4
if i == 3:
h_c = heur4(s, end)
f_c = g_i + w[0] * h_c
g_h_f[i][utils.coord_id(s)] = [g_i, h_c, f_c]
return f_c
# hueristic 5
if i == 4:
h_c = heur5(s, end)
f_c = g_i + w[0] * h_c
g_h_f[i][utils.coord_id(s)] = [g_i, h_c, f_c]
return f_c
def __init__(self, point, g_h): self.x = point[0] self.y = point[1] self.g_h = g_h self.cid = utils.coord_id(point)
def get_vert(self, s): cid = utils.coord_id(s) for obj in self.fringe[:]: if cid == obj.cid: return obj