def test_a_star__15x15__no_obstacles():
graph = {'occupied_positions': [], 'width': 15, 'height': 15}
start_position = [0, 0]
goal_position = [14, 14]
path_length = len(a_star(graph, start_position, goal_position))
expected_path_length = 28
assert path_length == expected_path_length
def test_a_star__20x20__no_obstacles():
graph = {'occupied_positions': [], 'width': 20, 'height': 20}
start_position = [0, 0]
goal_position = [19, 19]
path_length = len(a_star(graph, start_position, goal_position))
expected_path_length = 38
assert path_length == expected_path_length
def test_a_star__straight__no_obstacles():
graph = {'occupied_positions': [], 'width': 5, 'height': 5}
start_position = [0, 0]
goal_position = [0, 4]
path_length = len(a_star(graph, start_position, goal_position))
expected_path_length = 4
assert path_length == expected_path_length
def test_a_star__two_obstacles():
graph = {'occupied_positions': [[2, 0], [2, 1]], 'width': 5, 'height': 5}
start_position = [0, 0]
goal_position = [3, 0]
path_length = len(a_star(graph, start_position, goal_position))
expected_path_length = 7
assert path_length == expected_path_length
def test_a_star__20x20__long_wall():
graph = {
'occupied_positions': [[6, y] for y in range(1, 20)],
'width': 20,
'height': 20
}
start_position = [0, 19]
goal_position = [19, 19]
path_length = len(a_star(graph, start_position, goal_position))
expected_path_length = 57
assert path_length == expected_path_length
def test_a_star__hook():
graph = {
'occupied_positions': [[1, 0], [1, 1], [1, 2], [1, 3], [2, 3], [3, 3],
[3, 2], [3, 1]],
'width':
5,
'height':
5
}
start_position = [0, 0]
goal_position = [2, 2]
path_length = len(a_star(graph, start_position, goal_position))
expected_path_length = 16
assert path_length == expected_path_length
def test_head_against_top_wall():
graph = {
'occupied_positions': [[4, 0], [4, 1], [4, 2], [3, 2], [2, 2], [2, 3],
[2, 4], [2, 5]],
'width':
10,
'height':
10
}
start_position = [4, 0]
goal_position = [6, 2]
path_length = len(a_star(graph, start_position, goal_position))
expected_path_length = 4
assert path_length == expected_path_length
def catch_pacman(self, nodes):
start = self.find_closest_node(nodes)
goal = self.closest_node_to_pacman(nodes)
self.path_to_pacman = a_star(start, goal)
print(self.path_to_pacman)