帮我写一个Lazy Theta*的Python代码
时间: 2024-03-28 19:29:45 浏览: 18
好的,Lazy Theta* 的 Python 代码如下:
```python
import math
import heapq
def lazy_theta_star(start, goal, obstacles, h_func, c_func):
g = {start: 0}
parents = {start: None}
open_set = [(h_func(start, goal), start)]
closed_set = set()
while open_set:
f, curr_node = heapq.heappop(open_set)
if curr_node == goal:
path = []
while curr_node != start:
path.append(curr_node)
curr_node = parents[curr_node]
path.append(start)
return list(reversed(path))
closed_set.add(curr_node)
for neighbor in get_neighbors(curr_node, obstacles):
if neighbor in closed_set:
continue
tentative_g = g[curr_node] + c_func(curr_node, neighbor)
if neighbor not in g or tentative_g < g[neighbor]:
parents[neighbor] = curr_node
g[neighbor] = tentative_g
f = tentative_g + h_func(neighbor, goal)
heapq.heappush(open_set, (f, neighbor))
return None
def get_neighbors(node, obstacles):
neighbors = []
for x_offset in range(-1, 2):
for y_offset in range(-1, 2):
if x_offset == 0 and y_offset == 0:
continue
neighbor_x = node[0] + x_offset
neighbor_y = node[1] + y_offset
neighbor = (neighbor_x, neighbor_y)
if neighbor in obstacles:
continue
if x_offset != 0 and y_offset != 0:
if (node[0] + x_offset, node[1]) in obstacles or (node[0], node[1] + y_offset) in obstacles:
continue
neighbors.append(neighbor)
return neighbors
def euclidean_dist(node1, node2):
return math.sqrt((node1[0] - node2[0]) ** 2 + (node1[1] - node2[1]) ** 2)
def manhattan_dist(node1, node2):
return abs(node1[0] - node2[0]) + abs(node1[1] - node2[1])
```
希望能帮到你!接下来有什么问题,可以随时问我哦!