def _get_unvisited_neighbors(self, x, y):
to_open = Fheap()
if y > 1 and self.nodes[(x, y - 1)].state == NodeState.UNKNOWN:
to_open.insert(self.nodes[(x, y - 1)])
if x < self.col_count and self.nodes[(x + 1,
y)].state == NodeState.UNKNOWN:
to_open.insert(self.nodes[(x + 1, y)])
if y < self.row_count and self.nodes[(x, y +
1)].state == NodeState.UNKNOWN:
to_open.insert(self.nodes[(x, y + 1)])
if x > 1 and self.nodes[(x - 1, y)].state == NodeState.UNKNOWN:
to_open.insert(self.nodes[(x - 1, y)])
return to_open
def start(self, from_x, from_y, to_x, to_y):
open_nodes = Fheap()
self._close_node(from_x, from_y, open_nodes)
target = self.nodes[(to_x, to_y)]
closed_node = self._next_step(open_nodes)
while closed_node != target:
closed_node = self._next_step(open_nodes)
if check(((x + 1, y + 1))):
adj.append(((x + 1, y + 1)))
if check(((x + 1, y - 1))):
adj.append(((x + 1, y - 1)))
if check(((x - 1, y))):
adj.append(((x - 1, y)))
if check(((x - 1, y + 1))):
adj.append(((x - 1, y + 1)))
if check(((x - 1, y - 1))):
adj.append(((x - 1, y - 1)))
return adj
queue = Fheap()
node_dict = {}
for y in range(n):
for x in range(m):
if y == source[1] and x == source[0]:
node = Node(destination[1], destination[0], x, y, 0, option)
node.val = 0
queue.insert(node)
node_dict.update({(x, y): node})
elif maze[y][x] != 0:
node = Node(destination[1], destination[0], x, y, infinity, option)
queue.insert(node)
node_dict.update({(x, y): node})
def _next_step(self, open_nodes: Fheap):
to_close = open_nodes.extract_min()
self._close_node(to_close.x, to_close.y, open_nodes)
return to_close
def _close_node(self, x, y, open_nodes: Fheap, finished=False):
self.nodes[(x, y)].state = NodeState.PATH
if not finished:
neighbors = self._get_unvisited_neighbors(x, y)
open_nodes.union(neighbors)