Here's a snippet of Path Finding Code in Python

Technology
1

Hello,

We may not need navigation for walking right now but, since the head, has cameras, this path finding can also be modified to work with Facial Recognition, and center the camera on a person’s face. We don’t have a way to post code snippets properly formatted. I’m sure this editor can do, the Web Administrator has to change the toolbar to include the Source Code Button…

# Author: Christian Careaga (christian.careaga7@gmail.com)
# A* Pathfinding in Python (2.7)
# Please give credit if used

import numpy
from heapq import *


def heuristic(a, b):
    return (b[0] - a[0]) ** 2 + (b[1] - a[1]) ** 2

def astar(array, start, goal):

neighbors = [(0,1),(0,-1),(1,0),(-1,0),(1,1),(1,-1),(-1,1),(-1,-1)]

close_set = set()
came_from = {}
gscore = {start:0}
fscore = {start:heuristic(start, goal)}
oheap = []

heappush(oheap, (fscore[start], start))

while oheap:

    current = heappop(oheap)[1]

    if current == goal:
        data = []
        while current in came_from:
            data.append(current)
            current = came_from[current]
        return data

    close_set.add(current)
    for i, j in neighbors:
        neighbor = current[0] + i, current[1] + j            
        tentative_g_score = gscore[current] + heuristic(current, neighbor)
        if 0 <= neighbor[0] < array.shape[0]:
            if 0 <= neighbor[1] < array.shape[1]:                
                if array[neighbor[0]][neighbor[1]] == 1:
                    continue
            else:
                # array bound y walls
                continue
        else:
            # array bound x walls
            continue
            
        if neighbor in close_set and tentative_g_score >= gscore.get(neighbor, 0):
            continue
            
        if  tentative_g_score < gscore.get(neighbor, 0) or neighbor not in [i[1]for i in oheap]:
            came_from[neighbor] = current
            gscore[neighbor] = tentative_g_score
            fscore[neighbor] = tentative_g_score + heuristic(neighbor, goal)
            heappush(oheap, (fscore[neighbor], neighbor))
            
return False

'''Here is an example of using my algo with a numpy array,
  astar(array, start, destination)
  astar function returns a list of points (shortest path)'''

nmap = numpy.array([
    [0,0,0,0,0,0,0,0,0,0,0,0,0,0],
    [1,1,1,1,1,1,1,1,1,1,1,1,0,1],
    [0,0,0,0,0,0,0,0,0,0,0,0,0,0],
    [1,0,1,1,1,1,1,1,1,1,1,1,1,1],
    [0,0,0,0,0,0,0,0,0,0,0,0,0,0],
    [1,1,1,1,1,1,1,1,1,1,1,1,0,1],
    [0,0,0,0,0,0,0,0,0,0,0,0,0,0],
    [1,0,1,1,1,1,1,1,1,1,1,1,1,1],
    [0,0,0,0,0,0,0,0,0,0,0,0,0,0],
    [1,1,1,1,1,1,1,1,1,1,1,1,0,1],
    [0,0,0,0,0,0,0,0,0,0,0,0,0,0]])

print astar(nmap, (0,0), (10,13))

All this code does, is plot a path. If Poppy, has to overcome some obstacles as you lead along, it can no look down, and with a modified version of this code, potentially avoid kicking it could step over. It would no longer be this example. I’m 100% certain it’s a good example but, can be used many ways.

2

You can do it but with markdown syntax:

https://meta.discourse.org/t/syntax-highlighting-of-code-blocks/7242

I edited your post so you can see how it is done.