Python Write A * write to halfway

1 Import NumPy2Import Matplotlib.pyplot asPLT3  fromPylab Import *4 5 6Map_grid = Numpy.full (( -, -),int(Ten), dtype=numpy.int8)7 # Print (Map_grid)8map_grid[3,3:8] =09map_grid[3:Ten,7] =0Tenmap_grid[Ten,3:8] =0 Onemap_grid[ -, -: -] =0 Amap_grid[Ten: -, -] =0 -map_grid[Ten, -: -] =0 -map_grid[5,2] =7 themap_grid[ the, the] =5 -  -Plt.imshow (Map_grid, Cmap=plt.cm.hot, interpolation='Nearest', vmin=0, vmax=Ten) - Plt.colorbar () +Xlim (-1, -) # Set X-axis range -Ylim (-1, -) # Set y-axis range +My_x_ticks = Numpy.arange (0, -,1) AMy_y_ticks = Numpy.arange (0, -,1) at plt.xticks (my_x_ticks) - plt.yticks (my_y_ticks) - Plt.grid (True) - plt.show () -  -  in classAStar (Object): - def __init__ (self): toSELF.F =0 +SELF.G =0 -Self.h =0 theSelf.last_point = Numpy.array ([[5], [2]] # Last target point keeps getting updated *Self.current_point = Numpy.array ([[5], [2]] # The current target point keeps getting updated $Self.open =Numpy.array ([[], []]) # Create an empty open table firstPanax Notoginsengself.closed =Numpy.array ([[], []]) # Create an empty closed table first -Self.start = Numpy.array ([[5], [2]]) # Start coordinates theSelf.goal = Numpy.array ([[ the], [ the]]) # End coordinates +  A def h_value (self): theH = (self.current_point[0][0] - the)**2+ (self.current_point[1][0]- the)**2 +h =numpy.sqrt (h) # calculation H -Self.h =h # update H $         returnh $  - def g_value (self): -G1 = self.current_point[0][0]-self.last_point[0][0] theG2 = self.current_point[1][0]-self.last_point[1][0] -g = g1**2+ g2**2Wuyig =numpy.sqrt (g) theSELF.G = SELF.G +g -         returng Wu  - def f_value (self): Aboutf = self.g_value () +Self.h_value () $         returnF -  - def h_value_tem (self, cur_p): -H = (cur_p[0] - the)**2+ (cur_p[1]- the)**2 Ah =numpy.sqrt (h) # calculation H +  the         returnh -  $ def g_value_tem (self, las_p, cu_p): theG1 = cu_p[0]-las_p[0][0] theG2 = cu_p[1]-las_p[1][0] theg = g1**2+ g2**2 theg =numpy.sqrt (g) -  in         returng the  the def f_value_tem (self, las_p, cu_p): About  thef = Self.g_value_tem (las_p, cu_p) +Self.h_value_tem (cu_p) the         returnF the  + def min_f (self): -Tem_f = [] the Bayi          forIinchRange (self.open.shape[1]): theF_list =Self.f_value_tem (Self.last_point, self.open[:, I]) the tem_f.append (f_list) -  -index =tem_f.index (min (tem_f)) # Returns the minimum value theLocation =self.open[:, index] the  the Numpy.column_stack ((self.closed, location)) the         return Location -  the def main (self): theSelf.open =Numpy.column_stack ((Self.open, Self.start)) thex =Self.open94f =self.h the  the# self.open.shape[0] the         ifself.open.shape[0] !=0:98             ifSelf.min_f () = = [ the, the]: AboutPrint'Search Success! ') -                  Break101             Else:102                 103             104              the 106 107 108 109  the         Else:111Print'no search to the path! ')

Python Write A * write to halfway