U = PriorityQ.PriorityQ()
LpaStar = Algorithm.LPAStar(gridWorld, U, HEURISTIC)
start = time.time()
LpaStar.computeShortestPath()
end = time.time()
calcFirstSearch = end - start
drawPath = True
getAndRenderResults()
alg = LpaStar.alg
if event.key == pygame.K_F8: #Select D*Lite and run first search
U = PriorityQ.PriorityQ()
DStarLite = Algorithm.DStarLite(gridWorld, U, HEURISTIC)
start = time.time()
DStarLite.computeShortestPath()
end = time.time()
calcFirstSearch = end - start
drawPath = True
getAndRenderResults()
alg = DStarLite.alg
if event.key == pygame.K_RIGHT: #Move forwards through path
#print("right arrow")
if currRobotPos <= lenP - 1:
currRobotPos += 1
getAndRenderResults()
