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Fix multi heuristic astar algo (#4612)

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Hasanul Islam 2021-08-13 13:10:24 +06:00 committed by GitHub
parent d668c172b0
commit cd987372e4
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1 changed files with 10 additions and 9 deletions
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19
graphs/multi_heuristic_astar.py
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@ -2,6 +2,8 @@ import heapq
import numpy as np import numpy as np
TPos = tuple[int, int]
class PriorityQueue: class PriorityQueue:
def __init__(self): def __init__(self):
@ -53,24 +55,24 @@ class PriorityQueue:
return (priority, item) return (priority, item)
def consistent_heuristic(P, goal): def consistent_heuristic(P: TPos, goal: TPos):
# euclidean distance # euclidean distance
a = np.array(P) a = np.array(P)
b = np.array(goal) b = np.array(goal)
return np.linalg.norm(a - b) return np.linalg.norm(a - b)
def heuristic_2(P, goal): def heuristic_2(P: TPos, goal: TPos):
# integer division by time variable # integer division by time variable
return consistent_heuristic(P, goal) // t return consistent_heuristic(P, goal) // t
def heuristic_1(P, goal): def heuristic_1(P: TPos, goal: TPos):
# manhattan distance # manhattan distance
return abs(P[0] - goal[0]) + abs(P[1] - goal[1]) return abs(P[0] - goal[0]) + abs(P[1] - goal[1])
def key(start, i, goal, g_function): def key(start: TPos, i: int, goal: TPos, g_function: dict[TPos, float]):
ans = g_function[start] + W1 * heuristics[i](start, goal) ans = g_function[start] + W1 * heuristics[i](start, goal)
return ans return ans
@ -117,7 +119,7 @@ def do_something(back_pointer, goal, start):
quit() quit()
def valid(p): def valid(p: TPos):
if p[0] < 0 or p[0] > n - 1: if p[0] < 0 or p[0] > n - 1:
return False return False
if p[1] < 0 or p[1] > n - 1: if p[1] < 0 or p[1] > n - 1:
@ -215,7 +217,6 @@ blocks_blk = [
(18, 1), (18, 1),
(19, 1), (19, 1),
] ]
blocks_no = []
blocks_all = make_common_ground() blocks_all = make_common_ground()
@ -233,7 +234,7 @@ goal = (n - 1, n - 1)
t = 1 t = 1
def multi_a_star(start, goal, n_heuristic): def multi_a_star(start: TPos, goal: TPos, n_heuristic: int):
g_function = {start: 0, goal: float("inf")} g_function = {start: 0, goal: float("inf")}
back_pointer = {start: -1, goal: -1} back_pointer = {start: -1, goal: -1}
open_list = [] open_list = []
@ -243,8 +244,8 @@ def multi_a_star(start, goal, n_heuristic):
open_list.append(PriorityQueue()) open_list.append(PriorityQueue())
open_list[i].put(start, key(start, i, goal, g_function)) open_list[i].put(start, key(start, i, goal, g_function))
close_list_anchor = [] close_list_anchor: list[int] = []
close_list_inad = [] close_list_inad: list[int] = []
while open_list[0].minkey() < float("inf"): while open_list[0].minkey() < float("inf"):
for i in range(1, n_heuristic): for i in range(1, n_heuristic):
# print(open_list[0].minkey(), open_list[i].minkey()) # print(open_list[0].minkey(), open_list[i].minkey())