Anonymní profil kuba – Programujte.com

Dobře, přihodim sem kód, díky za zájem.

vstupem do algoritmu je mapa, plus počáteční a koncový bod

pathFound = True

            openList = []

            closedList = []

            

            heapq.heappush(openList, (1 , start))

            start.setOnOpenList(True)

            start.setG(0)

            

            while end.getOnClosedList() != True:

                

                if len(openList) > 0:

                    current = heapq.heappop(openList)[1]

                    current.setOnClosedList(True)

                    closedList.append(current)

                    surrounding = current.getSurroundingNodes()



                    for next in surrounding:

                        

                        if((next.getCost() > 0) and (next.getOnClosedList() != True)):

                            

                            if(next.getOnOpenList() != True):

                                next.setParent(current)

                                next.setG(current.getG() + next.getCost())

                                next.setH(next.calcHeuristicTarget(end))

                                heapq.heappush(openList, (next.getF(), next))

                                next.setOnOpenList(True)

                            

                            else:

                                

                                if(current.getG() > (next.getG() + current.getCost())):

                                    current.setParent(next)

                                    current.setG(next.getG() + current.getCost())

                                    heapq.heappop(openList)

                                    heapq.heappush(openList, (current.getF(), current))

                

                else:

                    pathFound = False

                    break                

                

            return pathFound, openList, closedList