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test: adding more tests to a star algorithm (#10397)

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* test: adding more tests to a star algorithm

* Apply suggestions from code review

* Update a_star.py

---------

Co-authored-by: Tianyi Zheng <tianyizheng02@gmail.com>
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Abílio Azevedo 2023-10-15 18:31:11 -03:00 committed by GitHub
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@ -16,6 +16,31 @@ def search(
cost: int,
heuristic: list[list[int]],
) -> tuple[list[list[int]], list[list[int]]]:
"""
Search for a path on a grid avoiding obstacles.
>>> grid = [[0, 1, 0, 0, 0, 0],
... [0, 1, 0, 0, 0, 0],
... [0, 1, 0, 0, 0, 0],
... [0, 1, 0, 0, 1, 0],
... [0, 0, 0, 0, 1, 0]]
>>> init = [0, 0]
>>> goal = [len(grid) - 1, len(grid[0]) - 1]
>>> cost = 1
>>> heuristic = [[0] * len(grid[0]) for _ in range(len(grid))]
>>> heuristic = [[0 for row in range(len(grid[0]))] for col in range(len(grid))]
>>> for i in range(len(grid)):
... for j in range(len(grid[0])):
... heuristic[i][j] = abs(i - goal[0]) + abs(j - goal[1])
... if grid[i][j] == 1:
... heuristic[i][j] = 99
>>> path, action = search(grid, init, goal, cost, heuristic)
>>> path # doctest: +NORMALIZE_WHITESPACE
[[0, 0], [1, 0], [2, 0], [3, 0], [4, 0], [4, 1], [4, 2], [4, 3], [3, 3],
[2, 3], [2, 4], [2, 5], [3, 5], [4, 5]]
>>> action # doctest: +NORMALIZE_WHITESPACE
[[0, 0, 0, 0, 0, 0], [2, 0, 0, 0, 0, 0], [2, 0, 0, 0, 3, 3],
[2, 0, 0, 0, 0, 2], [2, 3, 3, 3, 0, 2]]
"""
closed = [
[0 for col in range(len(grid[0]))] for row in range(len(grid))
] # the reference grid