def __init__(self, methodName='runTest'):
super(TestAstar, self).__init__(methodName)
self.g1 = GridWithWeights(4, 4)
self.g2 = EightDirectionGrid(4, 4)
self.g3 = DynamicBoundGrid(4, 4)
self.g4 = DynamicBoundGridWithShortcuts(4, 4)
self.g5 = DenseGraph(self.g4)
self.g6 = DualityGraph(4, 4)
class TestGridDB(unittest.TestCase):
def __init__(self, methodName='runTest'):
super(TestGridDB, self).__init__(methodName)
self.g1 = DynamicBoundGrid(4, 4)
self.g1.set_search((0, 0), (3, 3))
self.g2 = DynamicBoundGridWithShortcuts(4, 4)
self.g2.set_search((0, 0), (3, 3))
def test_case1(self):
self.assertSetEqual(set(self.g1.neighbors((0, 0))),
set([(1, 0), (0, 1), (1, 1)]))
def test_case2(self):
self.assertSetEqual(set(self.g2.neighbors((0, 0))),
set([(1, 0), (0, 1), (1, 1)]))
class TestAstar(unittest.TestCase):
def __init__(self, methodName='runTest'):
super(TestAstar, self).__init__(methodName)
self.g1 = GridWithWeights(4, 4)
self.g2 = EightDirectionGrid(4, 4)
self.g3 = DynamicBoundGrid(4, 4)
self.g4 = DynamicBoundGridWithShortcuts(4, 4)
self.g5 = DenseGraph(self.g4)
self.g6 = DualityGraph(4, 4)
def test_case1(self):
start = (0, 0)
goal = (3, 3)
came_from, cost_so_far = a_star_search(self.g1, start, goal)
path = reconstruct_path(came_from, start, goal)
answer = [(0, 0), (0, 1), (1, 1), (1, 2), (2, 2), (2, 3), (3, 3)]
self.assertEqual(path, answer)
def test_case2(self):
start = (0, 0)
goal = (3, 3)
came_from, cost_so_far = a_star_search(self.g2, start, goal)
path = reconstruct_path(came_from, start, goal)
answer = [(0, 0), (1, 1), (2, 2), (3, 3)]
self.assertEqual(path, answer)
def test_case3(self):
start = (0, 0)
goal = (3, 3)
self.g3.set_search(start, goal)
came_from, cost_so_far = a_star_search(self.g3, start, goal)
path = reconstruct_path(came_from, start, goal)
answer = [(0, 0), (1, 1), (2, 2), (3, 3)]
self.assertEqual(path, answer)
def test_case4(self):
start = (0, 0)
goal = (3, 3)
self.g4.set_search(start, goal)
came_from, cost_so_far = a_star_search(self.g4, start, goal)
path = reconstruct_path(came_from, start, goal)
answer = [(0, 0), (1, 1), (2, 2), (3, 3)]
self.assertEqual(path, answer)
def test_case5(self):
start = (0, 0)
goal = (3, 3)
self.g5.set_search(start, goal)
came_from, cost_so_far = a_star_search(self.g5, start, goal)
path = reconstruct_path(came_from, start, goal)
answer = [(0, 0), (1, 1), (2, 2), (3, 3)]
self.assertEqual(path, answer)
def test_case6(self):
start = (0, 0)
goal = (3, 3)
self.g6.set_search(start, goal)
came_from, cost_so_far = a_star_search(self.g6, start, goal)
path = reconstruct_path(came_from, start, goal)
answer = [(0, 0), (3, 3)]
self.assertEqual(path, answer)
import time
import matplotlib.pyplot as plt
root = os.path.join(os.path.dirname(__file__), '..')
sys.path.append(root)
from graph.grid8d import EightDirectionGrid
from graph.gridDB import DynamicBoundGridWithShortcuts
from graph.transform import DenseGraph
from pathfinder.astar import a_star_search
from pathfinder.util import reduce_path, reconstruct_path
from shape.Octagon import solid_octagon
from shape.OctagonLine import solid_octagon_line
if __name__ == '__main__':
grid1 = EightDirectionGrid(10000, 10000)
grid2 = DynamicBoundGridWithShortcuts(10000, 10000)
p = 0.5
for pos in solid_octagon(510, 1000, 20):
grid1.walls.add(pos)
grid2.walls.add(pos)
# case 1
# for y in range(500, 5500):
# grid1.walls.add((550, y))
# grid2.walls.add((550, y))
# case 2
for pos in solid_octagon_line((550, 500), (550, 5500), 20):
grid1.walls.add(pos)
grid2.walls.add(pos)
def __init__(self, methodName='runTest'):
super(TestGridDB, self).__init__(methodName)
self.g1 = DynamicBoundGrid(4, 4)
self.g1.set_search((0, 0), (3, 3))
self.g2 = DynamicBoundGridWithShortcuts(4, 4)
self.g2.set_search((0, 0), (3, 3))
vertex[v1].remove(current)
vertex[v1].add(v2)
vertex[v2].remove(current)
vertex[v2].add(v1)
vertex.pop(current)
elif len(vertex[current]) == 1:
v = list(vertex[current])[0]
vertex[v].remove(current)
vertex.pop(current)
return vertex
def neighbors(self, pos):
return self.vertex[pos]
def cost(self, from_node, to_node):
return self.edge[(from_node, to_node)]
def set_search(self, start, end):
self.graph.set_search(start, end)
self.constract()
if __name__ == '__main__':
grid = DynamicBoundGridWithShortcuts(500, 500)
start, end = ((0, 0), (5, 12))
graph = DenseGraph(grid)
graph.set_search(start, end)
import os
import sys
import time
import matplotlib.pyplot as plt
root = os.path.join(os.path.dirname(__file__), '..')
sys.path.append(root)
from graph.gridDB import DynamicBoundGridWithShortcuts, DynamicBoundGrid
from graph.transform import DenseGraph
from pathfinder.astar import a_star_search
from pathfinder.util import reduce_path, reconstruct_path
from shape.Octagon import solid_octagon
from shape.OctagonLine import solid_octagon_line
if __name__ == '__main__':
grid1 = DynamicBoundGridWithShortcuts(10000, 10000)
grid2 = DynamicBoundGridWithShortcuts(10000, 10000)
dg = DenseGraph(grid2)
p = 0.5
# for pos in solid_octagon(510, 1000, 20):
# grid1.walls.add(pos)
# grid2.walls.add(pos)
# case 1
# for y in range(500, 5500):
# grid1.walls.add((550, y))
# grid2.walls.add((550, y))
# case 2
for pos in solid_octagon_line((550, 500), (550, 5500), 20):