()
| 167 | |
| 168 | |
| 169 | def get_motion_model(): |
| 170 | # dx, dy, cost |
| 171 | motion = [[1, 0, 1], |
| 172 | [0, 1, 1], |
| 173 | [-1, 0, 1], |
| 174 | [0, -1, 1], |
| 175 | [-1, -1, math.sqrt(2)], |
| 176 | [-1, 1, math.sqrt(2)], |
| 177 | [1, -1, math.sqrt(2)], |
| 178 | [1, 1, math.sqrt(2)]] |
| 179 | |
| 180 | return motion |
| 181 | |
| 182 | |
| 183 | def main(): |