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grid.getPath(): allow for grid values to be movement/distance weights

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also: lambdas are sloooooooow
This commit is contained in:
Stefan Harmuth 2021-12-15 07:49:57 +01:00
parent 1c83a41fd2
commit 235a545c70
1 changed files with 20 additions and 11 deletions
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31
tools/grid.py
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@ -2,6 +2,7 @@ from __future__ import annotations
from .coordinate import Coordinate, DistanceAlgorithm from .coordinate import Coordinate, DistanceAlgorithm
from dataclasses import dataclass from dataclasses import dataclass
from enum import Enum from enum import Enum
from math import inf
from typing import Any, Dict, List, Optional, Union from typing import Any, Dict, List, Optional, Union
OFF = False OFF = False
@ -202,29 +203,33 @@ class Grid:
self.transform(GridTransformation.ROTATE_RIGHT) self.transform(GridTransformation.ROTATE_RIGHT)
self.transform(GridTransformation.ROTATE_RIGHT) self.transform(GridTransformation.ROTATE_RIGHT)
def getPath(self, pos_from: Coordinate, pos_to: Coordinate, includeDiagonal: bool, walls: List[Any] = None)\ def getPath(self, pos_from: Coordinate, pos_to: Coordinate, includeDiagonal: bool, walls: List[Any] = None,
-> Union[None, List[Coordinate]]: weighted: bool = False) -> Union[None, List[Coordinate]]:
@dataclass(frozen=True) @dataclass(frozen=True)
class Node: class Node:
f_cost: int f_cost: Numeric
h_cost: int h_cost: Numeric
parent: Optional[Coordinate] parent: Optional[Coordinate]
if walls in None: if walls is None:
walls = [self.__default] walls = [self.__default]
openNodes: Dict[Coordinate, Node] = {} openNodes: Dict[Coordinate, Node] = {}
closedNodes: Dict[Coordinate, Node] = {} closedNodes: Dict[Coordinate, Node] = {}
openNodes[pos_from] = Node( openNodes[pos_from] = Node(
pos_from.getDistanceTo(pos_to, DistanceAlgorithm.MANHATTAN, includeDiagonal), pos_from.getDistanceTo(pos_to),
pos_from.getDistanceTo(pos_to, DistanceAlgorithm.MANHATTAN, includeDiagonal), pos_from.getDistanceTo(pos_to),
None None
) )
while openNodes: while openNodes:
currentCoord = list(sorted(openNodes, key=lambda n: openNodes[n].f_cost))[0] currentNode = Node(inf, 0, None)
currentNode = openNodes[currentCoord] currentCoord = None
for c, n in openNodes.items():
if n.f_cost < currentNode.f_cost:
currentNode = n
currentCoord = c
closedNodes[currentCoord] = currentNode closedNodes[currentCoord] = currentNode
del openNodes[currentCoord] del openNodes[currentCoord]
@ -235,8 +240,12 @@ class Grid:
if self.get(neighbour) in walls or neighbour in closedNodes: if self.get(neighbour) in walls or neighbour in closedNodes:
continue continue
neighbourDist = currentCoord.getDistanceTo(neighbour, DistanceAlgorithm.MANHATTAN, includeDiagonal) if weighted:
targetDist = neighbour.getDistanceTo(pos_to, DistanceAlgorithm.MANHATTAN, includeDiagonal) neighbourDist = self.get(neighbour)
else:
neighbourDist = currentCoord.getDistanceTo(neighbour, DistanceAlgorithm.MANHATTAN, includeDiagonal)
targetDist = neighbour.getDistanceTo(pos_to)
neighbourNode = Node( neighbourNode = Node(
targetDist + neighbourDist + currentNode.h_cost, targetDist + neighbourDist + currentNode.h_cost,
currentNode.h_cost + neighbourDist, currentNode.h_cost + neighbourDist,