def solve(num_arr, start, end, w=1):
goal = vertex.Vertex(end, 0)
g = {}
g[utils.coord_id(start)] = 0
g_h_f = {}
g_h_f[utils.coord_id(start)] = [0, heur(start, end), w * heur(start, end)]
parent = {}
parent[utils.coord_id(start)] = start
fr = fringe.Fringe()
fr.insert(vertex.Vertex(start,
g[utils.coord_id(start)] + heur(start, end)))
closed = set()
while len(fr) != 0:
s = fr.pop()
if s == goal:
path = utils.goal_path(start, end, parent)
return True, path, g_h_f
closed.add(s)
for s_p in utils.succ(num_arr, s, closed):
if s_p not in fr.to_list():
sp_cid = utils.coord_id([s_p.x, s_p.y])
g[sp_cid] = math.inf
parent[sp_cid] = None
update_vertex(s, s_p, g, parent, fr, end, num_arr, w, g_h_f)
return False, [], []
def solve(num_arr, start, end, w=[1, 1.25]):
# open_i
fr = []
# closed_i
closed = []
#g_i
g = []
#bp_i
parent = []
# stuff to display
g_h_f = []
goal = vertex.Vertex(end, 0)
for i in range(n):
g.append({})
g[i][utils.coord_id(start)] = 0
g[i][utils.coord_id(end)] = math.inf
parent.append({})
g_h_f.append({})
parent[i][utils.coord_id(start)] = start
parent[i][utils.coord_id(end)] = None
fr.append(fringe.Fringe(False))
fr[i].insert(vertex.Vertex(start, key(start, i, g, end, w, g_h_f)))
closed.append(set())
goal_cid = utils.coord_id(end)
while fr[0].minkey().g_h < math.inf:
for i in range(n):
if fr[i].minkey().g_h <= w[1] * fr[i].minkey().g_h:
if g[i][goal_cid] <= fr[i].minkey().g_h:
if g[i][goal_cid] < math.inf:
return True, utils.goal_path(start, end,
parent[i]), g_h_f[i]
else:
s = fr[i].top()
expand_state(s, i, fr, g, parent, num_arr, closed, end, w,
g_h_f)
closed[i].add(s)
else:
if g[0][goal_cid] <= fr[0].minkey().g_h:
if g[0][goal_cid] < math.inf:
return True, utils.goal_path(start, end,
parent[i]), g_h_f[0]
else:
s = fr[i].top()
expand_state(s, 0, fr, g, parent, num_arr, closed, end, w,
g_h_f)
closed[0].add(s)
return False, [], []
def update_vertex(s, s_p, g, parent, fr, end, num_arr, w, g_h_f):
s_c = [s.x, s.y]
sp_c = [s_p.x, s_p.y]
s_cid = utils.coord_id(s_c)
sp_cid = utils.coord_id(sp_c)
next_cost = utils.cost(num_arr, s_c, sp_c)
if g[s_cid] + next_cost < g[sp_cid]:
g[sp_cid] = g[s_cid] + next_cost
parent[sp_cid] = s_c
if s_p in fr.to_list():
fr.remove(sp_c)
g_c = g[sp_cid]
h_c = heur(sp_c, end)
f_c = g_c + w * h_c
g_h_f[utils.coord_id(sp_c)] = [g_c, h_c, f_c]
fr.insert(vertex.Vertex(sp_c, f_c))
def expand_state(s, i, fr, g, parent, num_arr, closed, end, w, g_h_f):
s_c = [s.x, s.y]
s_cid = utils.coord_id(s_c)
fr[i].remove(s_c)
for s_p in utils.succ(num_arr, s, closed[i]):
sp_c = [s_p.x, s_p.y]
sp_cid = utils.coord_id(sp_c)
tmp_cost = utils.cost(num_arr, s_c, sp_c)
# may be wrong
if s_p not in fr[i].to_list():
g[i][sp_cid] = math.inf
parent[i][sp_cid] = None
if g[i][sp_cid] > g[i][s_cid] + tmp_cost:
g[i][sp_cid] = g[i][s_cid] + tmp_cost
parent[i][sp_cid] = s_c
if s_p not in closed[i]:
fr[i].insert(
vertex.Vertex(sp_c, key(sp_c, i, g, end, w, g_h_f)))
def succ(num_arr, point, closed):
not_succ = []
succs = []
# check left
not_succ.append(vertex.Vertex([point.x - 1, point.y], 0))
# check right
not_succ.append(vertex.Vertex([point.x + 1, point.y], 0))
# check up
not_succ.append(vertex.Vertex([point.x, point.y - 1], 0))
# check down
not_succ.append(vertex.Vertex([point.x, point.y + 1], 0))
# check left up
not_succ.append(vertex.Vertex([point.x - 1, point.y - 1], 0))
# check right up
not_succ.append(vertex.Vertex([point.x + 1, point.y - 1], 0))
# check left down
not_succ.append(vertex.Vertex([point.x - 1, point.y + 1], 0))
# check right down
not_succ.append(vertex.Vertex([point.x + 1, point.y + 1], 0))
for ss in not_succ:
if not (check_bounds(num_arr, [ss.x, ss.y]) or (ss in closed)):
succs.append(ss)
return succs
def remove(self, s): tmp_vert = vertex.Vertex(s, 0) self.fringe.remove(tmp_vert)