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Added allow_diagonals flag #1

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14 changes: 7 additions & 7 deletions astar_python/astar.py
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Original file line number Diff line number Diff line change
Expand Up @@ -33,25 +33,25 @@ def equal(self, current, end):
def heuristic(self, current, other):
return abs(current.x - other.x) + abs(current.y - other.y)

def neighbours(self, matrix, current):
def neighbours(self, matrix, current, allow_diagonals):
neighbours_list = []
if current.x - 1 >= 0 and current.y - 1 >= 0 and matrix[current.y - 1][current.x - 1].weight is not None:
if current.x - 1 >= 0 and current.y - 1 >= 0 and allow_diagonals and matrix[current.y - 1][current.x - 1].weight is not None:
neighbours_list.append(matrix[current.y - 1][current.x - 1])
if current.x - 1 >= 0 and matrix[current.y][current.x - 1].weight is not None:
neighbours_list.append(matrix[current.y][current.x - 1])
if current.x - 1 >= 0 and current.y + 1 < len(matrix) and matrix[current.y + 1][
if current.x - 1 >= 0 and current.y + 1 < len(matrix) and allow_diagonals and matrix[current.y + 1][
current.x - 1].weight is not None:
neighbours_list.append(matrix[current.y + 1][current.x - 1])
if current.y - 1 >= 0 and matrix[current.y - 1][current.x].weight is not None:
neighbours_list.append(matrix[current.y - 1][current.x])
if current.y + 1 < len(matrix) and matrix[current.y + 1][current.x].weight is not None:
neighbours_list.append(matrix[current.y + 1][current.x])
if current.x + 1 < len(matrix[0]) and current.y - 1 >= 0 and matrix[current.y - 1][
if current.x + 1 < len(matrix[0]) and current.y - 1 >= 0 and allow_diagonals and matrix[current.y - 1][
current.x + 1].weight is not None:
neighbours_list.append(matrix[current.y - 1][current.x + 1])
if current.x + 1 < len(matrix[0]) and matrix[current.y][current.x + 1].weight is not None:
neighbours_list.append(matrix[current.y][current.x + 1])
if current.x + 1 < len(matrix[0]) and current.y + 1 < len(matrix) and matrix[current.y + 1][
if current.x + 1 < len(matrix[0]) and current.y + 1 < len(matrix) and allow_diagonals and matrix[current.y + 1][
current.x + 1].weight is not None:
neighbours_list.append(matrix[current.y + 1][current.x + 1])
return neighbours_list
Expand All @@ -64,7 +64,7 @@ def build(self, end):
node_tmp = node_tmp.parent
return list(reversed(path))

def run(self, point_start, point_end):
def run(self, point_start, point_end, allow_diagonals=True):
matrix = self.mat
start = self.Node(point_start[0], point_start[1])
end = self.Node(point_end[0], point_end[1])
Expand All @@ -88,7 +88,7 @@ def run(self, point_start, point_end):

closed_list.append(current_node)

for neighbour in self.neighbours(matrix, current_node):
for neighbour in self.neighbours(matrix, current_node, allow_diagonals):
if neighbour in closed_list:
continue
if neighbour.heuristic < current_node.heuristic or neighbour not in open_list:
Expand Down