Spaces:
Runtime error
Runtime error
File size: 3,345 Bytes
ad7641a |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 |
from globals import *
# -------------------------------------------------------------------------------------------------------------------- #
# -------------------------------------------------------------------------------------------------------------------- #
# -------------------------------------------------------------------------------------------------------------------- #
# CLASSES
# -------------------------------------------------------------------------------------------------------------------- #
# -------------------------------------------------------------------------------------------------------------------- #
# -------------------------------------------------------------------------------------------------------------------- #
class AStarNode:
def __init__(self, n: Node, t: int, h: int, parent: Self | None = None):
self.n: Node = n
self.x: int = n.x
self.y: int = n.y
self.t: int = t
self.h: int = h
self.f: int = t + h
self.parent: Self | None = parent
self.neighbours: List[str] = n.neighbours[:]
self.neighbours_nodes: List[Node] = n.neighbours_nodes[:]
self.xy_name: str = f'{self.x}_{self.y}'
self.xyt_name: str = f'{self.x}_{self.y}_{self.t}'
def __eq__(self, other: Self) -> bool:
return self.xyt_name == other.xyt_name
def __lt__(self, other: Self) -> bool:
# for sort
if self.f < other.f:
return True
if self.f > other.f:
return False
if self.h < other.h:
return True
# critic to put >=
if self.h >= other.h:
return False
raise RuntimeError('uuuups')
# def __hash__(self):
# return hash(self.xyt_name)
def __str__(self) -> str:
return f'{self.xyt_name} [{self.f}]'
def __repr__(self) -> str:
return f'{self.xyt_name} [{self.f}]'
# -------------------------------------------------------------------------------------------------------------------- #
# -------------------------------------------------------------------------------------------------------------------- #
# -------------------------------------------------------------------------------------------------------------------- #
# FUNCTIONS
# -------------------------------------------------------------------------------------------------------------------- #
# -------------------------------------------------------------------------------------------------------------------- #
# -------------------------------------------------------------------------------------------------------------------- #
def reconstruct_path(i_node: AStarNode) -> List[Node]:
# we have reached the end
path: List[Node] = []
node_current = i_node
while node_current is not None:
path.append(node_current.n)
node_current = node_current.parent
path.reverse()
return path
def get_latest_vc_on_node(i_node: AStarNode, vc_np: np.ndarray | None) -> int:
"""
:param i_node:
:param vc_np: vertex constraints [x, y, t] = bool
:return: int
"""
if vc_np is None:
return 0
vc_times = vc_np[i_node.x, i_node.y, :]
indices = np.argwhere(vc_times == 1)
if len(indices) == 0:
return 0
return int(indices[-1][0])
|