def compute_route(self, node_source, source_ori, node_target, target_ori):
self._previous_node = node_source
a_star = AStar()
a_star.init_grid(
self._map.get_graph_resolution()[0],
self._map.get_graph_resolution()[1],
self._map.get_walls_directed(node_source, source_ori, node_target,
target_ori), node_source, node_target)
route = a_star.solve()
# JuSt a Corner Case
# Clean this to avoid having to use this function
if route is None:
a_star = AStar()
a_star.init_grid(
self._map.get_graph_resolution()[0],
self._map.get_graph_resolution()[1],
self._map.get_walls_directed(node_source,
source_ori,
node_target,
target_ori,
both_walls=False), node_source,
node_target)
route = a_star.solve()
self._route = route
return route
def AStar_robot(self):
"""
Perform a AStar search to find the optimal route based on the
known maze
Note: Changing the weight of g (weight based on steps from start)
in AStar caused the algorithm to get out of a stuck corner case.
Should do something to modify cell.g if the same move is seen
multiple times in a short period. (3 in 5?)
"""
search = AStar(self.maze_dim, self.current_maze,
self.location, self.goal)
# Build the internal AStar grid
search.init_grid()
# Find the optimal route
search.process()
# Return the list of moves necessary to reach the goal
self.move_list = search.display_path(show=False)
print(self.move_list)
#print(self.move_list)
# Return the move
rotation, movement = self.move_direction(self.move_list.pop(0))
return rotation, movement
