def main():
# How much it expand before quitting, if -1 it will search until goal found
depthLimit = 10000
_map_ = pp.generateMap2d_obstacle([100,100])
#_map_ = pp.generateMap2d([60,60])
# Dummy so we can run both with and without obstacle without changing code
if len(_map_) == 2:
map = _map_
else:
map = [_map_]
# X,Y: Wrong, someone the data is placed Y,X)
start, goal = tuple(np.argwhere(map[0] == -2)[0]), tuple(np.argwhere(map[0] == -3)[0])
print("Start value: ",start, " Goal value: ", goal)
# Plot each algorithm
for x in range(0,8):
data = defineClass(_map_, start, goal, x, depthLimit)
if len(data[0]) == 0:
print("Couldnt find path")
continue
newMap = data[0][0]
if data[0][1] == depthLimit:
print("Depth limit reached for", str(data[1]))
continue
pp.plotMap(mapFunc(map[0], newMap), pathFunc(newMap, goal),str(data[1]) + ", g: " + str(data[0][1]) + " Expanded: " + str(data[0][2]))
print(str(data[1]) + " g: " + str(data[0][1]), " Steps:", str(data[0][2]))
plt.show()
'''
if theMap[next.pos[0]][next.pos[1]] >= 0:
theMap[next.pos[0]][next.pos[1]] = next.depth
self.searchedNodes += 1
self.queue.sort_add(next)
return self.path
if __name__ == "__main__":
# map_object, info = pp.generateMap2d([60,60])
map_object, info = pp.generateMap2d_obstacle([60, 60])
print(info)
start = Node(
[np.where(map_object == -2)[0][0],
np.where(map_object == -2)[1][0]], None, 0, 0)
goal = Node(
[np.where(map_object == -3)[0][0],
np.where(map_object == -3)[1][0]], None, 0, 0)
print("Start node is: {}".format(start.pos))
print("Goal node is at: {}".format(goal.pos))
searcher = AstarC()
searcher.search(map_object, start, goal, info)
print("Number of visited nodes: {}".format(searcher.searchedNodes))
print("Length of path: {}".format(
len(searcher.path[0]) + len(searcher.path[1])))
pp.plotMap(map_object, searcher.path)
