def show_current_policy_and_map(self):
"""
For visualization of the maze and policy when using the A* planner.
:return: None
"""
vis = Visualizer(self.maze_map.dim)
vis.draw_maze(Maze('known_maze.txt'))
vis.draw_policy(reversed(self.planner.policy), self.location, self.heading)
vis.show_window()
from MazeMap import MazeMap
from AStarPlanner import AStarPlanner
from Visualizer import Visualizer
from Position import Position
from Direction import Direction
from maze import Maze
import sys
from GoalHeuristic import GoalHeuristic
if __name__ == '__main__':
file_path = str(sys.argv[1])
maze_map = MazeMap(file_path=file_path)
maze = Maze(file_path)
planner = AStarPlanner(maze_map, GoalHeuristic(maze.dim))
vis = Visualizer(maze_map.dim)
start_pos = Position(0,0)
start_head = Direction(0)
planner.replan(start_pos, start_head)
vis.draw_maze(maze)
vis.draw_policy(reversed(planner.policy), start_pos, start_head)
print "Number of moves: ", len(planner.policy)
vis.show_window()
