Pathfinding Benchmarks: File Formats
This page is part of Nathan Sturtevant's Moving AI Lab at the University of Alberta.
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Map Format
The maps have the following format:
All maps begin with the lines:
type octile
height y
width x
map
where y and x are the respective height and width of the map.
The map data is store as an ASCII grid. The upper-left corner of the map is (0,0). The following characters are possible:
. - passable terrain
G - passable terrain
@ - out of bounds
O - out of bounds
T - trees (unpassable)
S - swamp (passable from regular terrain)
W - water (traversable, but not passable from terrain)
Scenario Format
Code to load the scenario files is available as part of HOG2, or can be accessed here:
ScenarioLoader.cpp and
ScenarioLoader.h
The scenario files have the following format.
The begin with the text "version x.x". This document describes version 1.0. The trailing 0 is optional.
Each line of a scenario has 9 fields:
| Bucket | map | map width | map height | start x-coordinate | start y-coordinate | goal x-coordinate | goal y-coordinate | optimal length |
| 0 | maps/dao/arena.map | 49 | 49 | 1 | 11 | 1 | 12 | 1 |
| 0 | maps/dao/arena.map | 49 | 49 | 1 | 13 | 4 | 12 | 3.41421 |
Notes:
- The optimal path length is assuming sqrt(2) diagonal costs.
- The optimal path length assumes agents cannot cut corners through walls
- If the map height/width do not match the file, it should be scaled to that size
- (0, 0) is in the upper left corner of the maps
- Technically a single scenario file can have problems from many different maps, but currently every scenario only contains problems from a single map
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