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from __future__ import print_function

import heapq

import numpy as np

import math

import copy

try:

xrange # Python 2

except NameError:

xrange = range # Python 3

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 xrange(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)

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