HTequi/blob-simulation/python-pathfinding-master/pathfinding/core/node.py

# -*- 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
        self.h = 0.0

        # cost from the start node to this node
        self.g = 0.0

        # distance from start to this point (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