12 def pathFind(self, start, end, board):
13 if start[0] == end[0] and start[1] == end[1]:
14 #sys.stderr.write("Got to destination!\n")
17 if self.visited.count(start) > 0:
18 #sys.stderr.write("Back track!!\n")
20 if start[0] < 0 or start[0] >= len(board) or start[1] < 0 or start[1] >= len(board[start[0]]):
21 #sys.stderr.write("Out of bounds!\n")
23 if len(self.visited) > 0 and board[start[0]][start[1]] != None:
24 #sys.stderr.write("Full position!\n")
29 self.visited.append(start)
30 left = (start[0]-1, start[1])
31 right = (start[0]+1, start[1])
32 up = (start[0], start[1]-1)
33 down = (start[0], start[1]+1)
34 choices = [left, right, up, down]
35 choices.sort(key = lambda e : (e[0] - end[0])**2.0 + (e[1] - end[1])**2.0 )
38 option = [point, self.pathFind(point,end,board)]
39 if option[1] != False:
40 options.append(option)
42 options.sort(key = lambda e : len(e[1]))
44 #sys.stderr.write("NO options!\n")
47 if options[0][0] == left:
48 options[0][1].insert(0,"LEFT")
49 elif options[0][0] == right:
50 options[0][1].insert(0,"RIGHT")
51 elif options[0][0] == up:
52 options[0][1].insert(0,"UP")
53 elif options[0][0] == down:
54 options[0][1].insert(0,"DOWN")
55 #sys.stderr.write("PathFind got path " + str(options[0]) + "\n")