def astar_wait():
size = 10
_grid = np.zeros([size, size, size * 2])
for i in range(int(np.round(pow(size, 2) * .3))):
_grid[rand_coords(size, size)] = -1
start = (rand_coords(size, size) + (0, ))
while _grid[start] == -1:
start = (rand_coords(size, size) + (0, ))
goal = (rand_coords(size, size) + (size * 2 - 1, ))
while _grid[goal] == -1:
goal = (rand_coords(size, size) + (size * 2 - 1, ))
startt = datetime.datetime.now()
try:
path = astar_grid48con.astar_grid4con(start, goal, _grid)
except NoPathException as e:
print("Could not find path")
return 0, (datetime.datetime.now() - startt).total_seconds()
t = (datetime.datetime.now() - startt).total_seconds()
for i in range(len(path) - 1):
d = np.array(path[i]) - np.array(path[i + 1])
assert not (d[0] == 0 and d[1] == 0), "Waiting in place is baaaaad"
return astar_grid48con.path_length(path), t
for d in [(-1, -1), (-1, 0), (-1, 1), (0, -1), (0, 1), (1, -1), (1, 0),
(1, 1)]:
checking = (d[0] + n[0], d[1] + n[1])
if G.has_node(checking):
if not G.has_edge(n, checking):
G.add_edge(n, checking)
G[n][checking]['weight'] = cost(n, checking)
t = timeit.Timer()
t.timeit()
path = nx.astar_path(G, start, goal, cost)
print("computation time:", t.repeat(), "s")
print("length: ", astar_grid48con.path_length(path))
fig, ax = plt.subplots()
ax.imshow(map.T, cmap='Greys', interpolation='nearest')
ax.set_title('astar path')
ax.axis([0, map.shape[0], 0, map.shape[1]])
ax.plot(np.array(np.matrix(path)[:, 0]).flatten(),
np.array(np.matrix(path)[:, 1]).flatten(),
c='b',
lw=2)
n = G.number_of_nodes()
if n < 500:
plt.figure()
pos = nx.spring_layout(G, iterations=1000, k=.1 / np.sqrt(n))