Python中如何从地底与格网的连线作为搜索路径的实现代码

以下是Python中使用A*算法实现从地底与格网的连线作为搜索路径的代码：

# 导入必要的模块
import heapq

# 定义A*算法搜索函数
def astar_search(start, goal, graph):
    frontier = PriorityQueue()
    frontier.put(start, 0)
    came_from = {}
    cost_so_far = {}
    came_from[start] = None
    cost_so_far[start] = 0

    while not frontier.empty():
        current = frontier.get()

        if current == goal:
            break

        for next in graph.neighbors(current):
            new_cost = cost_so_far[current] + graph.cost(current, next)
            if next not in cost_so_far or new_cost < cost_so_far[next]:
                cost_so_far[next] = new_cost
                priority = new_cost + heuristic(goal, next)
                frontier.put(next, priority)
                came_from[next] = current

    return came_from, cost_so_far

# 定义PriorityQueue类
class PriorityQueue:
    def __init__(self):
        self.elements = []

    def empty(self):
        return len(self.elements) == 0

    def put(self, item, priority):
        heapq.heappush(self.elements, (priority, item))

    def get(self):
        return heapq.heappop(self.elements)[1]

# 定义Grid类
class Grid:
    def __init__(self, width, height):
        self.width = width
        self.height = height
        self.walls = []

    def in_bounds(self, id):
        (x, y) = id
        return 0 <= x < self.width and 0 <= y < self.height

    def passable(self, id):
        return id not in self.walls

    def neighbors(self, id):
        (x, y) = id
        results = [(x+1, y), (x, y-1), (x-1, y), (x, y+1)]
        if (x + y) % 2 == 0: results.reverse() # aesthetics
        results = filter(self.in_bounds, results)
        results = filter(self.passable, results)
        return results

    def cost(self, current, next):
        return 1

# 定义heuristic函数
def heuristic(a, b):
    (x1, y1) = a
    (x2, y2) = b
    return abs(x1 - x2) + abs(y1 - y2)

# 测试代码
if __name__ == '__main__':
    # 创建地图
    g = Grid(10, 10)
    g.walls = [(1, 1), (2, 1), (3, 1), (3, 2), (3, 3), (2, 3), (1, 3), (1, 2)]
    # 执行A*算法搜索
    came_from, cost_so_far = astar_search((0, 0), (7, 7), g)
    # 输出搜索结果
    print(came_from)
    print(cost_so_far)

希望这段代码可以帮助你实现从地底与格网的连线作为搜索路径的功能！