demo/extra_plots_for_2k_astar.ipynb

{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 1,
   "id": "a656e0f2",
   "metadata": {},
   "outputs": [],
   "source": [
    "import math\n",
    "import pandas as pd\n",
    "from matplotlib.gridspec import GridSpec\n",
    "\n",
    "import sys\n",
    "sys.path.append(\"..\")\n",
    "\n",
    "from any_angle._2k_astar._2k_astar import Map2K, astar, canonical_astar, path_is_canonical\n",
    "from any_angle._2k_astar.utils import SearchTreePQS, euclidian_distance, h_2k, make_path\n",
    "from any_angle._2k_astar.testing import simple_test\n",
    "from any_angle._2k_astar.visualisation import draw\n",
    "from any_angle._2k_astar.grid import Node\n",
    "from any_angle.full_graph.full_graph_algorithm import full_graph_astar, MapFullGraph\n",
    "\n",
    "%matplotlib inline"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "id": "e1afe11e",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": "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\n",
      "text/plain": [
       "<Figure size 960x720 with 1 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "height = 15\n",
    "width = 30\n",
    "map_str = '''\n",
    ". . . . . . . . . . . . . . . . . . . . . @ @ . . . . . . .  \n",
    ". . . . . . . . . . . . . . . . . . . . . @ @ . . . . . . . \n",
    ". . . . . . . . . . . . . . . . . . . . . @ @ . . . . . . . \n",
    ". . . @ @ . . . . . . . . . . . . . . . . @ @ . . . . . . . \n",
    ". . . @ @ . . . . . . . . @ @ . . . . . . @ @ . . . . . . . \n",
    ". . . @ @ . . . . . . . . @ @ . . . . . . @ @ @ @ @ . . . . \n",
    ". . . @ @ . . . . . . . . @ @ . . . . . . @ @ @ @ @ . . . . \n",
    ". . . @ @ . . . . . . . . @ @ . . . . . . . . . . . . . . . \n",
    ". . . @ @ . . . . . . . . @ @ . . . . . . . . . . . . . . . \n",
    ". . . @ @ . . . . . . . . @ @ . . . . . . . . . . . . . . . \n",
    ". . . @ @ . . . . . . . . @ @ . . . . . . . . . . . . . . . \n",
    ". . . @ @ . . . . . . . . @ @ . . . . . . . . . . . . . . . \n",
    ". . . . . . . . . . . . . @ @ . . . . . . . . . . . . . . . \n",
    ". . . . . . . . . . . . . @ @ . . . . . . . . . . . . . . .\n",
    ". . . . . . . . . . . . . @ @ . . . . . . . . . . . . . . .\n",
    "'''\n",
    "\n",
    "test_map = Map2K()\n",
    "test_map.read_from_string(map_str, width, height)\n",
    "start = Node(1, 1)\n",
    "goal = Node(13, 28)\n",
    "draw(test_map, start, goal)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "id": "b0bdb532",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Path found! Length: 33.31370849898476. Nodes created: 392. Number of steps: 261. Correct: False. Runtime: 0.04468274116516113ms.\n"
     ]
    },
    {
     "data": {
      "image/png": "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\n",
      "text/plain": [
       "<Figure size 960x720 with 1 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "k = 3\n",
    "stats = simple_test(Map2K(), astar, 6, h_2k, SearchTreePQS, k=k)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "id": "8abe868a",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Path found! Length: 33.31370849898477. Nodes created: 81. Number of steps: 52. Correct: False. Runtime: 0.0043337345123291016ms.\n"
     ]
    },
    {
     "data": {
      "image/png": "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\n",
      "text/plain": [
       "<Figure size 960x720 with 1 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Path is canonical: True\n"
     ]
    }
   ],
   "source": [
    "k = 3\n",
    "stats = simple_test(Map2K(), canonical_astar, 6, h_2k, SearchTreePQS, k=k, w=1000)\n",
    "print(\"Path is canonical:\", path_is_canonical(test_map, stats[1], k))"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "id": "cc92421b",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Path found! Length: 31.314385337088538. Nodes created: 8144. Number of steps: 253. Correct: False. Runtime: 1.1532866954803467ms.\n"
     ]
    },
    {
     "data": {
      "image/png": "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\n",
      "text/plain": [
       "<Figure size 960x720 with 1 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "stats = simple_test(MapFullGraph(), full_graph_astar, 6, euclidian_distance, SearchTreePQS)"
   ]
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "Python 3 (ipykernel)",
   "language": "python",
   "name": "python3"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 3
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython3",
   "version": "3.10.6"
  }
 },
 "nbformat": 4,
 "nbformat_minor": 5
}