import Astar import heapq 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) # Define a function to calculate the distance between two coordinates def distance(_from, _to): x1, y1 = _from x2, y2 = _to distancepath = Astar.find_path(x1, y1, x2, y2) return distancepath # Compute the distances between all pairs of waypoints 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 # Set the start and end points start = 0 end = n - 1 # Initialize the distances and visited set distances = [[float('inf')] * (n+1) for _ in range(n)] visited = set() # Initialize the heap with the start point and 0 distance and 0 waypoints visited heap = [(0, 0, start)]
时间: 2024-03-30 09:37:25 浏览: 56
ASTAR.zip_AStar_Astar算法_自主 导航_自主导航
这段代码使用A*算法和堆(heap)数据结构实现了从起点到终点经过所有指定航点的最短路径。首先,定义了起点、终点和指定航点的坐标。然后,定义了一个计算两个坐标之间距离的函数distance,内部使用了A*算法计算两个坐标之间的最短路径长度。接着,使用上述计算函数计算了所有航点之间的距离,并存储在邻接矩阵adj_matrix中。接下来,定义了起点、终点到所有航点的距离distances和已经访问过的航点集合visited,并初始化堆heap,将起点和0距离以及0已访问航点数加入堆中。最后,可以使用堆来实现Dijkstra算法,找到从起点到终点经过所有指定航点的最短路径。
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