def tmp(agent_host, tree, dataMap, depthMap, expansionFactor):
start = dataMap.indexFromPoint(startPos)
tmp = dataMap.indexFromPoint(
(startPos[0] + 50, startPos[1], startPos[2] + 50))
end = (tmp[0], depthMap[tmp[0]][tmp[2]], tmp[2]
) # search goal (per for loops)
waypoints = A_star_graph.search(start, end, tree, expansionFactor)
cur = (waypoints[0][0], waypoints[0][1], waypoints[0][2])
curIndex = 0
t = time.time() # store timestamp
while (True):
for i in range(curIndex + 1, len(waypoints)):
print "{}/{}, {}".format(i, len(waypoints) - 1, curIndex)
tmp = (waypoints[i][0], waypoints[i][1], waypoints[i][2]
) # my A* requires tuples, not arrays
path = A_star.search(cur, tmp, dataMap.data, 2) # 2 second timeout
if path:
walkPath(agent_host, path)
cur = tmp
curIndex = i
break
if curIndex == len(waypoints) - 2:
print "done!"
break
# print time.time() - t
return waypoints
def searchTesting(dataMap, depthMap):
results = []
#load saved map
start = dataMap.indexFromPoint(startPos)
# run A* 40^2 times, each time to a different point
t0 = time.time()
count = 1
for i in range(-200, 200, 10):
for j in range(-200, 200, 10):
tmp = dataMap.indexFromPoint(
(startPos[0] + i, startPos[1], startPos[2] + j))
end = (tmp[0], depthMap[tmp[0]][tmp[2]], tmp[2]
) #search goal (per for loops)
t = time.time() #store timestamp
path = A_star.search(start, end, dataMap.data,
15) #15 second timeout
# print results thus far
# if(path):
# s = "{},{}: | Ellapsed: {:f} | Current: {:f} | Percentage: {:f}% |"
# print s.format(i, j, time.time() - t0, time.time() - t, count/16.)
# else:
# s = "{},{}: | Ellapsed: {:f} | TIMEOUT | Percentage: {:f}% |"
# print s.format(i, j, time.time() - t0, count/16.)
# count = count + 1
print("{},{}".format(i, j))
if (path):
results.append((i, j, time.time() - t, len(path)))
else:
results.append((i, j, time.time() - t, 0))
pickle.dump(results, open("A_star_test_results.p", "wb"))
# Create Spots
for i in range(cols):
for j in range(row):
x = node(i, j)
grid[i][j] = x
x.draw()
graph[i][j] = 0
run = True
findPath = False
while run:
# pygame.time.delay(1)
if findPath:
path = A_star.search(graph, start, end)
if path == None:
print("no path")
run = False
else:
for i in range(0, len(path)):
for j in range(0, len(path[i])):
if path[i][j] != -1:
node(i, j).changeColorToRed()
for event in pygame.event.get():
if event.type == pygame.QUIT:
run = False
if pygame.mouse.get_pressed()[0] & (not findPath):
try: