utilities.pathfinding module

Module containing pathfinding utilities.

class utilities.pathfinding.Pathfinding

Bases: object

static find_path(world, start, goal, tolerance=0)

Implements the A* algorithm to find a path from the start to the goal.

Parameters:

• world – The world
• start – The starting position
• goal – The goal position
• tolerance – The heuristic tolerance distance (e.g., at a tolerance of 0 the path should go to the exact goal. At a tolerance of 1 the path should end within 1 cell distance to the goal)

static get_neighbours(world, position)

Get all neighbours of a given position (cell).

Parameters:

• world – The world
• position – The given position (cell)

static heuristic(start, goal)

Calculate the heuristic cost to get from start to the goal.

Parameters:

• start – The starting position
• goal – The goal position

static reconstruct_path(backtrack, goal)

Reconstruct the path from the start to the goal, based on the backtrack path created by the find_path method.

Parameters:

• backtrack – The backtrack path (a list of positions)
• goal – The goal position

Returns:

The path