mirror of
https://github.com/TheAlgorithms/Python.git
synced 2024-11-24 05:21:09 +00:00
264 lines
6.4 KiB
Python
264 lines
6.4 KiB
Python
import heapq
|
|
import numpy as np
|
|
|
|
|
|
class PriorityQueue:
|
|
def __init__(self):
|
|
self.elements = []
|
|
self.set = set()
|
|
|
|
def minkey(self):
|
|
if not self.empty():
|
|
return self.elements[0][0]
|
|
else:
|
|
return float('inf')
|
|
|
|
def empty(self):
|
|
return len(self.elements) == 0
|
|
|
|
def put(self, item, priority):
|
|
if item not in self.set:
|
|
heapq.heappush(self.elements, (priority, item))
|
|
self.set.add(item)
|
|
else:
|
|
# update
|
|
# print("update", item)
|
|
temp = []
|
|
(pri, x) = heapq.heappop(self.elements)
|
|
while x != item:
|
|
temp.append((pri, x))
|
|
(pri, x) = heapq.heappop(self.elements)
|
|
temp.append((priority, item))
|
|
for (pro, xxx) in temp:
|
|
heapq.heappush(self.elements, (pro, xxx))
|
|
|
|
def remove_element(self, item):
|
|
if item in self.set:
|
|
self.set.remove(item)
|
|
temp = []
|
|
(pro, x) = heapq.heappop(self.elements)
|
|
while x != item:
|
|
temp.append((pro, x))
|
|
(pro, x) = heapq.heappop(self.elements)
|
|
for (prito, yyy) in temp:
|
|
heapq.heappush(self.elements, (prito, yyy))
|
|
|
|
def top_show(self):
|
|
return self.elements[0][1]
|
|
|
|
def get(self):
|
|
(priority, item) = heapq.heappop(self.elements)
|
|
self.set.remove(item)
|
|
return (priority, item)
|
|
|
|
def consistent_hueristic(P, goal):
|
|
# euclidean distance
|
|
a = np.array(P)
|
|
b = np.array(goal)
|
|
return np.linalg.norm(a - b)
|
|
|
|
def hueristic_2(P, goal):
|
|
# integer division by time variable
|
|
return consistent_hueristic(P, goal) // t
|
|
|
|
def hueristic_1(P, goal):
|
|
# manhattan distance
|
|
return abs(P[0] - goal[0]) + abs(P[1] - goal[1])
|
|
|
|
def key(start, i, goal, g_function):
|
|
ans = g_function[start] + W1 * hueristics[i](start, goal)
|
|
return ans
|
|
|
|
def do_something(back_pointer, goal, start):
|
|
grid = np.chararray((n, n))
|
|
for i in range(n):
|
|
for j in range(n):
|
|
grid[i][j] = '*'
|
|
|
|
for i in range(n):
|
|
for j in range(n):
|
|
if (j, (n-1)-i) in blocks:
|
|
grid[i][j] = "#"
|
|
|
|
grid[0][(n-1)] = "-"
|
|
x = back_pointer[goal]
|
|
while x != start:
|
|
(x_c, y_c) = x
|
|
# print(x)
|
|
grid[(n-1)-y_c][x_c] = "-"
|
|
x = back_pointer[x]
|
|
grid[(n-1)][0] = "-"
|
|
|
|
|
|
for i in range(n):
|
|
for j in range(n):
|
|
if (i, j) == (0, n-1):
|
|
print(grid[i][j], end=' ')
|
|
print("<-- End position", end=' ')
|
|
else:
|
|
print(grid[i][j], end=' ')
|
|
print()
|
|
print("^")
|
|
print("Start position")
|
|
print()
|
|
print("# is an obstacle")
|
|
print("- is the path taken by algorithm")
|
|
print("PATH TAKEN BY THE ALGORITHM IS:-")
|
|
x = back_pointer[goal]
|
|
while x != start:
|
|
print(x, end=' ')
|
|
x = back_pointer[x]
|
|
print(x)
|
|
quit()
|
|
|
|
def valid(p):
|
|
if p[0] < 0 or p[0] > n-1:
|
|
return False
|
|
if p[1] < 0 or p[1] > n-1:
|
|
return False
|
|
return True
|
|
|
|
def expand_state(s, j, visited, g_function, close_list_anchor, close_list_inad, open_list, back_pointer):
|
|
for itera in range(n_hueristic):
|
|
open_list[itera].remove_element(s)
|
|
# print("s", s)
|
|
# print("j", j)
|
|
(x, y) = s
|
|
left = (x-1, y)
|
|
right = (x+1, y)
|
|
up = (x, y+1)
|
|
down = (x, y-1)
|
|
|
|
for neighbours in [left, right, up, down]:
|
|
if neighbours not in blocks:
|
|
if valid(neighbours) and neighbours not in visited:
|
|
# print("neighbour", neighbours)
|
|
visited.add(neighbours)
|
|
back_pointer[neighbours] = -1
|
|
g_function[neighbours] = float('inf')
|
|
|
|
if valid(neighbours) and g_function[neighbours] > g_function[s] + 1:
|
|
g_function[neighbours] = g_function[s] + 1
|
|
back_pointer[neighbours] = s
|
|
if neighbours not in close_list_anchor:
|
|
open_list[0].put(neighbours, key(neighbours, 0, goal, g_function))
|
|
if neighbours not in close_list_inad:
|
|
for var in range(1,n_hueristic):
|
|
if key(neighbours, var, goal, g_function) <= W2 * key(neighbours, 0, goal, g_function):
|
|
# print("why not plssssssssss")
|
|
open_list[j].put(neighbours, key(neighbours, var, goal, g_function))
|
|
|
|
|
|
# print
|
|
|
|
def make_common_ground():
|
|
some_list = []
|
|
# block 1
|
|
for x in range(1, 5):
|
|
for y in range(1, 6):
|
|
some_list.append((x, y))
|
|
|
|
# line
|
|
for x in range(15, 20):
|
|
some_list.append((x, 17))
|
|
|
|
# block 2 big
|
|
for x in range(10, 19):
|
|
for y in range(1, 15):
|
|
some_list.append((x, y))
|
|
|
|
# L block
|
|
for x in range(1, 4):
|
|
for y in range(12, 19):
|
|
some_list.append((x, y))
|
|
for x in range(3, 13):
|
|
for y in range(16, 19):
|
|
some_list.append((x, y))
|
|
return some_list
|
|
|
|
hueristics = {0: consistent_hueristic, 1: hueristic_1, 2: hueristic_2}
|
|
|
|
blocks_blk = [(0, 1),(1, 1),(2, 1),(3, 1),(4, 1),(5, 1),(6, 1),(7, 1),(8, 1),(9, 1),(10, 1),(11, 1),(12, 1),(13, 1),(14, 1),(15, 1),(16, 1),(17, 1),(18, 1), (19, 1)]
|
|
blocks_no = []
|
|
blocks_all = make_common_ground()
|
|
|
|
|
|
|
|
|
|
blocks = blocks_blk
|
|
# hyper parameters
|
|
W1 = 1
|
|
W2 = 1
|
|
n = 20
|
|
n_hueristic = 3 # one consistent and two other inconsistent
|
|
|
|
# start and end destination
|
|
start = (0, 0)
|
|
goal = (n-1, n-1)
|
|
|
|
t = 1
|
|
def multi_a_star(start, goal, n_hueristic):
|
|
g_function = {start: 0, goal: float('inf')}
|
|
back_pointer = {start:-1, goal:-1}
|
|
open_list = []
|
|
visited = set()
|
|
|
|
for i in range(n_hueristic):
|
|
open_list.append(PriorityQueue())
|
|
open_list[i].put(start, key(start, i, goal, g_function))
|
|
|
|
close_list_anchor = []
|
|
close_list_inad = []
|
|
while open_list[0].minkey() < float('inf'):
|
|
for i in range(1, n_hueristic):
|
|
# print("i", i)
|
|
# print(open_list[0].minkey(), open_list[i].minkey())
|
|
if open_list[i].minkey() <= W2 * open_list[0].minkey():
|
|
global t
|
|
t += 1
|
|
# print("less prio")
|
|
if g_function[goal] <= open_list[i].minkey():
|
|
if g_function[goal] < float('inf'):
|
|
do_something(back_pointer, goal, start)
|
|
else:
|
|
_, get_s = open_list[i].top_show()
|
|
visited.add(get_s)
|
|
expand_state(get_s, i, visited, g_function, close_list_anchor, close_list_inad, open_list, back_pointer)
|
|
close_list_inad.append(get_s)
|
|
else:
|
|
# print("more prio")
|
|
if g_function[goal] <= open_list[0].minkey():
|
|
if g_function[goal] < float('inf'):
|
|
do_something(back_pointer, goal, start)
|
|
else:
|
|
# print("hoolla")
|
|
get_s = open_list[0].top_show()
|
|
visited.add(get_s)
|
|
expand_state(get_s, 0, visited, g_function, close_list_anchor, close_list_inad, open_list, back_pointer)
|
|
close_list_anchor.append(get_s)
|
|
print("No path found to goal")
|
|
print()
|
|
for i in range(n-1,-1, -1):
|
|
for j in range(n):
|
|
if (j, i) in blocks:
|
|
print('#', end=' ')
|
|
elif (j, i) in back_pointer:
|
|
if (j, i) == (n-1, n-1):
|
|
print('*', end=' ')
|
|
else:
|
|
print('-', end=' ')
|
|
else:
|
|
print('*', end=' ')
|
|
if (j, i) == (n-1, n-1):
|
|
print('<-- End position', end=' ')
|
|
print()
|
|
print("^")
|
|
print("Start position")
|
|
print()
|
|
print("# is an obstacle")
|
|
print("- is the path taken by algorithm")
|
|
|
|
|
|
if __name__ == "__main__":
|
|
multi_a_star(start, goal, n_hueristic)
|