python-pathfinding/pathfinding/core/node.py at python2 · brean/python-pathfinding · GitHub

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# -*- coding: utf-8 -*-

class Node(object):

"""

basic node, saves X and Y coordinates on some grid and determine if

it is walkable.

"""

def __init__(self, x=0, y=0, walkable=True, weight=1):

# Coordinates

self.x = x

self.y = y

# Whether this node can be walked through.

self.walkable = walkable

# used for weighted algorithms

self.weight = weight

# values used in the finder

self.cleanup()

def __lt__(self, other):

"""

nodes are sorted by f value (see a_star.py)

:param other: compare Node

:return:

"""

return self.f < other.f

def cleanup(self):

"""

reset all calculated values, fresh start for pathfinding

"""

# cost from this node to the goal (for A* including the heuristic)

self.h = 0.0

# cost from the start node to this node

# (calculated by distance function, e.g. including diagonal movement)

self.g = 0.0

# overall cost for a path using this node (f = g + h )

self.f = 0.0

self.opened = 0

self.closed = False

# used for backtracking to the start point

self.parent = None

# used for recurion tracking of IDA*

self.retain_count = 0

# used for IDA* and Jump-Point-Search

self.tested = False

python-pathfinding/pathfinding/core/node.py at python2 · brean/python-pathfinding · GitHub

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