def run(self):
start_node = NavNode(position=self.board.start, g=0)
a_star = AStar(
draw=self.gfx.draw if not self.disable_gfx else lambda _: 0,
disable_gfx=self.disable_gfx,
draw_every=self.draw_every,
print_path=self.print_path
)
a_star.run(start_node=start_node)
def h_cost(self, s):
plan = AStar((s[0], s[1]), (self._e[0], self._e[1]), self._map_info)
if plan.run(display=False):
path = plan.reconstruct_path()
d = 0
for i in range(len(path) - 1):
d += self.distance(path[i], path[i + 1])
return d
