start_cor = (19, 0)waypoints = [(5, 15), (5, 1), (9, 3), (11, 17), (7, 19), (15, 19), (13, 1), (15, 5)] end_cor = (1, 20) def distance(_from, _to): x1, y1 = _from x2, y2 = _to distancepath = Astar.find_path(x1, y1, x2, y2) return distancepath n = len(waypoints) adj_matrix = [[0] * n for _ in range(n)] for i in range(n): for j in range(i + 1, n): dist = distance(waypoints[i], waypoints[j]) adj_matrix[i][j] = dist adj_matrix[j][i] = dist start = 0 end = n - 1 distances = [[float('inf')] * (n + 1) for _ in range(n)] visited = set() heap = [(0, 0, start)] while heap: (dist, num_visited, current) = heapq.heappop(heap) if current == end and num_visited == 8: break if (current, num_visited) in visited: continue visited.add((current, num_visited)) for neighbor, weight in enumerate(adj_matrix[current]): if weight > 0: new_num_visited = num_visited if neighbor in range(start + 1, end) and (current not in range(start + 1, end)) and num_visited < 8: new_num_visited += 1 new_distance = dist + weight if new_distance < distances[neighbor][new_num_visited]: distances[neighbor][new_num_visited] = new_distance heapq.heappush(heap, (new_distance, new_num_visited, neighbor)) min_dist = float('inf') min_num_visited = 8 for i in range(8): if distances[end][i] < min_dist: min_dist = distances[end][i] min_num_visited = i每排是什么意思帮我加上注释

以下是代码的注释解释：

# 定义起点和终点的坐标
start_cor = (19, 0)
end_cor = (1, 20)

# 定义计算两个点之间距离的函数
def distance(_from, _to):
    x1, y1 = _from
    x2, y2 = _to
    # 使用 Astar 算法寻路，计算出两个点之间的距离
    distancepath = Astar.find_path(x1, y1, x2, y2)
    return distancepath

# 定义路径上的路标点
waypoints = [(5, 15), (5, 1), (9, 3), (11, 17), (7, 19), (15, 19), (13, 1), (15, 5)]

# 计算路标点之间的距离，构建邻接矩阵
n = len(waypoints)
adj_matrix = [[0] * n for _ in range(n)]
for i in range(n):
    for j in range(i + 1, n):
        # 计算两个路标点之间的距离
        dist = distance(waypoints[i], waypoints[j])
        # 将距离存储到邻接矩阵中
        adj_matrix[i][j] = dist
        adj_matrix[j][i] = dist

# 定义起点和终点的编号
start = 0
end = n - 1

# 计算从起点到终点的最短路径，并要求途经的路标点个数为 8 个
distances = [[float('inf')] * (n + 1) for _ in range(n)]
visited = set()
heap = [(0, 0, start)]
while heap:
    (dist, num_visited, current) = heapq.heappop(heap)
    if current == end and num_visited == 8:
        break
    if (current, num_visited) in visited:
        continue
    visited.add((current, num_visited))
    for neighbor, weight in enumerate(adj_matrix[current]):
        if weight > 0:
            new_num_visited = num_visited
            # 如果邻居节点是路标点，并且当前节点不是路标点，并且途经的路标点个数还没有达到 8 个，则途经的路标点个数加 1
            if neighbor in range(start + 1, end) and (current not in range(start + 1, end)) and num_visited < 8:
                new_num_visited += 1
            # 计算从起点到邻居节点的距离
            new_distance = dist + weight
            # 更新从起点到邻居节点途经指定个数路标点的最短距离
            if new_distance < distances[neighbor][new_num_visited]:
                distances[neighbor][new_num_visited] = new_distance
                heapq.heappush(heap, (new_distance, new_num_visited, neighbor))

# 输出从起点到终点途经指定个数路标点的最短距离
min_dist = float('inf')
min_num_visited = 8
for i in range(8):
    if distances[end][i] < min_dist:
        min_dist = distances[end][i]
        min_num_visited = i