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class Node():
def __init__(self, parent=None, position=None):
self.parent = parent
self.position = position
self.g = 0
self.h = 0
self.f = 0
def __eq__(self, other):
return self.position == other.position
def astar(maze, start, end):
start_node = Node(None, start)
start_node.g = start_node.h = start_node.f = 0
end_node = Node(None, end)
end_node.g = end_node.h = end_node.f = 0
open_list = []
closed_list = []
open_list.append(start_node)
while len(open_list) > 0:
current_node = open_list[0]
current_index = 0
for index, item in enumerate(open_list):
if item.f < current_node.f:
current_node = item
current_index = index
open_list.pop(current_index)
closed_list.append(current_node)
if current_node == end_node:
path = []
current = current_node
while current is not None:
path.append(current.position)
current = current.parent
return path[::-1]
children = []
for new_position in [(0, -1), (0, 1), (-1, 0), (1, 0), (-1, -1), (-1, 1), (1, -1), (1, 1)]:
node_position = (current_node.position[0] + new_position[0], current_node.position[1] + new_position[1])
if node_position[0] > (len(maze) - 1) or node_position[0] < 0 or node_position[1] > (
len(maze[len(maze) - 1]) - 1) or node_position[1] < 0:
continue
if maze[node_position[0]][node_position[1]] != 0:
continue
new_node = Node(current_node, node_position)
children.append(new_node)
for child in children:
for closed_child in closed_list:
if child == closed_child:
continue
child.g = current_node.g + 1
child.h = ((child.position[0] - end_node.position[0]) ** 2) + (
(child.position[1] - end_node.position[1]) ** 2)
child.f = child.g + child.h
for open_node in open_list:
if child == open_node and child.g > open_node.g:
continue
open_list.append(child)
def main():
maze = [[0, 0, 0, 0, 1, 0],
[0, 0, 0, 0, 1, 0],
[0, 0, 0, 0, 1, 0],
[0, 0, 0, 0, 1, 0],
[0, 0, 0, 0, 1, 0],
[0, 0, 0, 0, 0, 0]]
graph = [[0, 1, 0, 0, 0, 0],
[1, 0, 1, 0, 1, 0],
[0, 1, 0, 0, 0, 1],
[0, 0, 0, 0, 1, 0],
[0, 1, 0, 1, 0, 0],
[0, 0, 1, 0, 0, 0]]
start = (0, 0)
end = (5, 5)
end1 = (5, 5)
path = astar(maze, start, end)
print("path",path)
path1 = astar(graph, start, end1)
print("path1",path1)
if __name__ == '__main__':
main()
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