| 16 | |
| 17 | |
| 18 | class Node: |
| 19 | |
| 20 | def __init__(self, x, y, cost, pind): |
| 21 | self.x = x |
| 22 | self.y = y |
| 23 | self.cost = cost |
| 24 | self.pind = pind |
| 25 | |
| 26 | def __str__(self): |
| 27 | return str(self.x) + "," + str(self.y) + "," + str(self.cost) + "," + str(self.pind) |
| 28 | |
| 29 | |
| 30 | def calc_final_path(ngoal, closedset, reso): |