Add python implementation for the AStar algo

AStar.py

@@ -0,0 +1,111 @@
+drivingDistanceMatrix = []
+geodesicDistanceMatrix = []
+g= {}
+f= {}
+parents = {}
+adjList = [[0,1],
+			[0,5],
+			[1,2],
+			[1,3],
+			[2,3],
+			[5,6],
+			[5,7],
+			[6,8],
+			[7,8],
+			[2,4],
+			[3,4],
+			[4,8],
+			[4,9],
+			[8,9]]
+
+def fillDistanaceMatrix():
+	with open('g.txt', 'r') as filehandle:
+	    for line in filehandle:
+	        line = line[1:-2]
+	        line = line.split(', ')
+	        drivingDistanceMatrix.append(line)
+
+	with open('h.txt', 'r') as filehandle:
+	    for line in filehandle:
+	        line = line[1:-2]
+	        line = line.split(', ')
+	        geodesicDistanceMatrix.append(line)
+
+def findChild(node):
+	children = []
+	for element in adjList:
+		if element[0]==node:
+			children.append(element[1])
+		if element[1] == node:
+			children.append(element[0])
+	return children
+
+
+def calFValue(parent,node,destination):
+	currG = float(g[parent]) + float(drivingDistanceMatrix[parent][node])
+	g[node] = currG 
+	currH = float(geodesicDistanceMatrix[node][destination])
+	return currG + currH
+
+
+def trackPath(source,destination):
+	requiredPath = []
+	start = destination
+	while start != source:
+		requiredPath.append(start)
+		start = parents[start]
+	requiredPath.append(start)
+	return requiredPath
+
+
+def aStar(source,destination):
+	g[source] = 0
+	openNodes = []
+	closedNodes = []
+	openNodes.append(source)
+	f[source] = float(calFValue(source,source,destination))
+	while(len(openNodes)!=int(0)):
+		currNode = min(openNodes, key=lambda o:f[o])
+		if(currNode == destination):
+			return trackPath(source,destination)
+		openNodes.remove(currNode)
+		childrenOfCurr = findChild(currNode)
+		if len(childrenOfCurr)!=0:
+			for child in childrenOfCurr:
+				if child not in openNodes and child not in closedNodes:
+					f[child] = float(calFValue(currNode,child,destination))
+					openNodes.append(child)
+					parents[child] = currNode 
+				elif child in openNodes:
+					currF = float(calFValue(currNode,child,destination))
+					if currF < f[child]:
+						f[child] = currF
+						parents[child] = currNode
+				elif child in closedNodes:
+					currF = float(calFValue(currNode,child,destination))
+					if currF < f[child]:
+						f[child] = currF
+						closedNodes.remove(child)
+						openNodes.append(child)
+						parents[child] = currNode
+		closedNodes.append(currNode)
+
+
+def writeToFile(finalPath):
+	with open('finalPath.txt', 'w') as f:
+		for result in finalPath:
+			f.write("%s\n" % result)
+
+
+
+fillDistanaceMatrix();
+finalPath = (aStar(0,9))
+finalPath.reverse()
+
+writeToFile(finalPath)
+for i in range(len(finalPath)):
+	print(finalPath[i],end='')
+	if i != len(finalPath)-1:
+		print(" --> ",end = '')
+
+print()