def __init__(self,
maze,
position1,
position2,
size,
heuristic="manhattan",
tie="bigger",
improving=False):
self.start = position1
self.maze = maze
self.size = size
if (tie == "bigger"):
self.states = sts.states(size)
if (tie == "smaller"):
self.states = sts.states(size, heuristic, tie)
self.agent = self.states.states[position1[0]][position1[1]]
self.target = self.states.states[position2[0]][position2[1]]
if (self.maze[self.target.i][self.target.j]) == 1:
while True:
print("Target position wrong")
#print self.agent
#print self.target
self.number_expaned_cells = 0
self.opn_list = my_heapq.my_heapq()
self.counter = 0
def begin(self):
whole_path = []
self.states.set_target(self.target)
while self.agent != self.target:
#print "In this round, the agent start with"
#print (self.agent.i,self.agent.j)
self.counter = self.counter + 1
self.agent.g = 0
self.target.g = float('inf')
self.agent.search = self.counter
self.opn_list = my_heapq.my_heapq()
self.states.clear()
self.opn_list.push(self.agent)
self.A_star()
if self.opn_list.is_empty() == True:
print("cannot reach target")
#print_maze()
break
else:
path = []
path.append(self.target)
next_node = self.target.node
path.append(next_node)
#while next_node!=agent:
while next_node.node != self.agent:
next_node = next_node.node
path.append(next_node)
path.reverse()
# for temp in path:
# print (temp.i,temp.j)
for node in path:
#one cell is detected to be blocked
if node.i >= 1:
self.states.maze[node.i -
1][node.j] = self.maze[node.i -
1][node.j]
if node.j >= 1:
self.states.maze[node.i][node.j -
1] = self.maze[node.i][node.j
- 1]
if node.i < self.size - 1:
self.states.maze[node.i +
1][node.j] = self.maze[node.i +
1][node.j]
if node.j < self.size - 1:
self.states.maze[node.i][node.j +
1] = self.maze[node.i][node.j
+ 1]
if self.maze[node.i][node.j] == 1:
self.states.maze[node.i][node.j] = 1
break
else:
whole_path.append(node)
self.agent = node
if node.i == self.target.i and node.j == self.target.j:
self.show_route(whole_path)
print("Reach the target")
def begin(self):
#self.print_maze()
whole_path = []
self.target.h = self.states.heuristic(self.agent, self.target)
self.agent.h = 0
self.states.set_target(self.target)
while self.agent.i!=self.target.i or self.agent.j!=self.target.j:
if self.states.maze[self.target.i][self.target.j]==1:
break
#for temp in range(1,100):
print "In this round, the agent start with"
print (self.agent.i,self.agent.j)
self.counter = self.counter+1
self.target.g = 0
self.agent.g= float('inf')
self.agent.search = self.counter
self.opn_list = my_heapq.my_heapq()
self.states.clear()
self.opn_list.push(self.target)
self.A_star_back()
if self.opn_list.is_empty()==True:
print("cannot reach target")
self.print_maze()
break
else:
path = []
#path.append(self.agent)
next_node = self.agent.node
path.append(next_node)
while next_node!=self.target:
next_node = next_node.node
path.append(next_node)
for node in path:
#print("in path")
#one cell is detected to be blocked
if node.i>=1:
self.states.maze[node.i-1][node.j] = self.maze[node.i-1][node.j]
if node.j>=1:
self.states.maze[node.i][node.j-1] = self.maze[node.i][node.j-1]
if node.i<self.size-1:
self.states.maze[node.i+1][node.j] = self.maze[node.i+1][node.j]
if node.j<self.size-1:
self.states.maze[node.i][node.j+1] = self.maze[node.i][node.j+1]
if self.maze[node.i][node.j]==1:
self.states.maze[node.i][node.j] = 1
break
else:
whole_path.append(node)
self.agent = node
if node.i==self.target.i and node.j== self.target.j:
self.show_route(whole_path)
print("Reach the target")
#!/usr/bin/env python2 # -*- coding: utf-8 -*- """ Created on Sat Feb 8 21:24:57 2020 @author: apple """ import my_heapq as heapq a = heapq.my_heapq() a.push(1) a.show() a.push(4) a.show() a.push(3) a.show() a.push(2) a.show() a.push(1) a.show() a.push(4) a.show() a.push(3) a.show() a.push(2) a.show() a.pop() a.show() a.pop() a.show()