def Astartprocessing(self,initalnode,goalnode,freeNodes,ax):
#inital point
g = plt.Rectangle((initalnode[0].x, initalnode[0].y), initalnode[0].width, initalnode[0].height, facecolor='red')
ax.add_patch(g)
#goal point
g = plt.Rectangle((goalnode[0].x, goalnode[0].y), goalnode[0].width, goalnode[0].height, facecolor='green')
ax.add_patch(g)
unvisitedlist = OrderedList()
stop = False #check meet goal
foundpath = False
visitedlist = OrderedList()
unvisitedlist.add(initalnode[0])
k = 1
while(stop == False and foundpath == False):
currnode = unvisitedlist.pop().getData()
cost = self.findactualcost(currnode)
visitedlist.add(currnode)
#check close to goal
if(currnode.x <= goalnode[0].x <= currnode.x+currnode.width and currnode.y <= goalnode[0].y <= currnode.y+currnode.height):
foundpath = True
#find 8 direction's node
if(stop == False):
nearnodes = self.findAround(currnode,freeNodes)
#change actual cost in nearnodes
for node in nearnodes:
prex = node.x + node.width/2
prey = node.y + node.height/2
currx = currnode.x +currnode.width/2
curry = currnode.x+currnode.height/2
node.gValue = cost + self.getdistance(prex,prey,currx,curry)
found = unvisitedlist.search(node)
if(found != None):
if(found.gValue > node.gValue):
found.gValue = node.gValue
found.father = currnode
else:
if(visitedlist.search(node) == None):
node.father = currnode
unvisitedlist.add(node)
if(unvisitedlist == None):
stop = True
print("there is no path")
if(foundpath == True):
while (currnode.father!= None):
#print("currx = ", currnode.x, "curry = ", currnode.y, "goalx = ", goalnode[0].x, "goaly = ",
#goalnode[0].y)
g = plt.Rectangle((currnode.x, currnode.y), currnode.width, currnode.height, facecolor='gray')
ax.add_patch(g)
currnode = currnode.father
from OrderedList import OrderedList, Node ol = OrderedList() ol.add(1) ol.add(23) print(ol.index(1)) print(ol.length()) ol.add(17) ol.add(58) ol.pop(0) ol.display()
