generowanie populacji, gen jako koszt obiekt z kosztem przejazdu
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|
||||
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|
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|
||||
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|
||||
</state>
|
||||
</provider>
|
||||
</entry>
|
||||
<entry file="file://$PROJECT_DIR$/images/krp.png">
|
||||
<provider selected="true" editor-type-id="images" />
|
||||
</entry>
|
||||
@ -512,37 +519,6 @@
|
||||
</state>
|
||||
</provider>
|
||||
</entry>
|
||||
<entry file="file://$PROJECT_DIR$/Mapa/shelf.py">
|
||||
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|
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|
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|
||||
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|
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|
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|
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|
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|
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|
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|
||||
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|
||||
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|
||||
</entry>
|
||||
<entry file="file://$PROJECT_DIR$/Mapa/generate.py">
|
||||
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|
||||
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|
||||
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|
||||
</state>
|
||||
</provider>
|
||||
</entry>
|
||||
<entry file="file://$PROJECT_DIR$/AStarState.py">
|
||||
<provider selected="true" editor-type-id="text-editor" />
|
||||
</entry>
|
||||
<entry file="file://$USER_HOME$/AppData/Local/Programs/Python/Python37/Lib/codecs.py">
|
||||
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|
||||
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|
||||
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|
||||
</provider>
|
||||
</entry>
|
||||
<entry file="file://$PROJECT_DIR$/Mapa/floor.py">
|
||||
<provider selected="true" editor-type-id="text-editor">
|
||||
<state relative-caret-position="153">
|
||||
@ -550,48 +526,128 @@
|
||||
</state>
|
||||
</provider>
|
||||
</entry>
|
||||
<entry file="file://$PROJECT_DIR$/Mapa/box.py">
|
||||
<provider selected="true" editor-type-id="text-editor" />
|
||||
</entry>
|
||||
<entry file="file://$PROJECT_DIR$/genetyczny/randomBox.py">
|
||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
</entry>
|
||||
<entry file="file://$PROJECT_DIR$/main.py">
|
||||
<entry file="file://$USER_HOME$/AppData/Local/Programs/Python/Python37/Lib/random.py">
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|
||||
</state>
|
||||
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|
||||
</entry>
|
||||
<entry file="file://$PROJECT_DIR$/AStar.py">
|
||||
<entry file="file://$PROJECT_DIR$/neurons.py">
|
||||
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|
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|
||||
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|
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<entry file="file://$USER_HOME$/AppData/Local/Programs/Python/Python37/Lib/site-packages/easygui/boxes/fileopen_box.py">
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|
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|
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|
||||
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</folding>
|
||||
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|
||||
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|
||||
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|
||||
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|
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<entry file="file://$PROJECT_DIR$/AStar.py">
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</folding>
|
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|
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|
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|
||||
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|
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</state>
|
||||
</provider>
|
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</entry>
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<entry file="file://$PROJECT_DIR$/Mapa/shelf.py">
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|
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|
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</state>
|
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|
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<entry file="file://$PROJECT_DIR$/genetyczny/Gene.py">
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|
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</provider>
|
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</entry>
|
||||
</component>
|
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</project>
|
||||
15
AStar.py
15
AStar.py
@ -2,7 +2,7 @@ import numpy
|
||||
from AStarState import AStarState
|
||||
|
||||
class AStar:
|
||||
def returnPath(self, currentNode, grid, flaga):
|
||||
def returnPath(self, currentNode, grid):
|
||||
path = []
|
||||
noRows, noColumns = numpy.shape(grid)
|
||||
result = [[-1 for i in range(noColumns)] for j in range(noRows)]
|
||||
@ -41,10 +41,14 @@ class AStar:
|
||||
if item.g<current.g:
|
||||
current = item
|
||||
currentIndeks = indeks
|
||||
if iterations>max and flaga == 0: #podprojekt genetyczne
|
||||
return current.g
|
||||
if iterations>max:
|
||||
return self.returnPath(current, grid)
|
||||
visited.append(current)
|
||||
toVisit.pop(currentIndeks)
|
||||
if current==endNode and flaga == 0:
|
||||
return current.g
|
||||
if current==endNode:
|
||||
return self.returnPath(current, grid) #zwracanie wagi przejscia
|
||||
children = []
|
||||
@ -56,6 +60,11 @@ class AStar:
|
||||
positions[1] > (noColumns - 1) or
|
||||
positions[1] < 0):
|
||||
continue
|
||||
""" podprojekt genetyczne"""
|
||||
if grid[positions[0]][positions[1]] == 2 and flaga == 0:
|
||||
children.append(AStarState(current, positions))
|
||||
continue
|
||||
|
||||
if grid[positions[0]][positions[1]]!=0:
|
||||
continue
|
||||
|
||||
@ -76,3 +85,7 @@ class AStar:
|
||||
continue
|
||||
|
||||
toVisit.append(child)
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
Binary file not shown.
@ -172,6 +172,7 @@ class Generate:
|
||||
all[wysokosc-2][szerokosc-3] = 2
|
||||
all[wysokosc-1][szerokosc-3] = 23
|
||||
all[wysokosc-2][szerokosc-4] = 1
|
||||
|
||||
""" Drugi wyjazd
|
||||
all[wysokosc-2][2] = 2
|
||||
all[wysokosc-1][2] = 23
|
||||
|
||||
Binary file not shown.
Binary file not shown.
@ -4,5 +4,15 @@
|
||||
class Data:
|
||||
|
||||
def __init__(self):
|
||||
self.zajeteRegaly = []
|
||||
self.zajeteRegaly = [] #krotka (x,y)
|
||||
self.mapa = []
|
||||
self.unbox = []
|
||||
self.astarMap = []
|
||||
|
||||
|
||||
def genMap(self, mapa):
|
||||
tmpMap =[]
|
||||
tmpMap = mapa.copy()
|
||||
for regal in self.zajeteRegaly:
|
||||
tmpMap[regal[0]][regal[1]] = 2
|
||||
return tmpMap
|
||||
|
||||
8
genetyczny/Gene.py
Normal file
8
genetyczny/Gene.py
Normal file
@ -0,0 +1,8 @@
|
||||
|
||||
|
||||
class Gene:
|
||||
def __init__(self, poczatkowa, koncowa, name):
|
||||
self.poczatkowa = poczatkowa
|
||||
self.koncowa = koncowa
|
||||
self.koszt = 0
|
||||
self.name = name
|
||||
Binary file not shown.
BIN
genetyczny/__pycache__/funkcje.cpython-37.pyc
Normal file
BIN
genetyczny/__pycache__/funkcje.cpython-37.pyc
Normal file
Binary file not shown.
Binary file not shown.
86
genetyczny/funkcje.py
Normal file
86
genetyczny/funkcje.py
Normal file
@ -0,0 +1,86 @@
|
||||
from Mapa.unboxOnTheFloor import UnboxOnTheFloor
|
||||
from genetyczny.Gene import Gene
|
||||
from Mapa.box import Box
|
||||
from AStar import AStar
|
||||
import random
|
||||
|
||||
|
||||
def znajdzUnbox(data,mapa):
|
||||
unboxy = []
|
||||
iterator = 0
|
||||
ostatniWiersz = len(mapa) -1
|
||||
for x in mapa[ostatniWiersz]:
|
||||
if (isinstance(x, UnboxOnTheFloor)):
|
||||
unboxy.append((ostatniWiersz, iterator))
|
||||
iterator += 1
|
||||
|
||||
data.unbox = unboxy
|
||||
def wybierzUnbox(data):
|
||||
return random.choice(data.unbox)
|
||||
|
||||
|
||||
def policzCost(mapaBoxy, poczatek, koniec):
|
||||
astar = AStar()
|
||||
koszt = astar.search(poczatek, koniec, mapaBoxy, 1, 0)
|
||||
return koszt
|
||||
|
||||
def generateChromosome(data, mapaBoxy, wheelxy):
|
||||
chromosome = []
|
||||
regaly = data.zajeteRegaly
|
||||
random.shuffle(regaly)
|
||||
|
||||
|
||||
for r in regaly:
|
||||
gen0 = Gene(wheelxy,r,"poczatek-regal")
|
||||
gen0.koszt = policzCost(mapaBoxy, wheelxy, r)
|
||||
chromosome.append(gen0)
|
||||
|
||||
unbox = wybierzUnbox(data)
|
||||
gen1 = Gene(r,unbox,"regal-unbox")
|
||||
gen1.koszt = policzCost(mapaBoxy, r, unbox)
|
||||
chromosome.append(gen1)
|
||||
|
||||
return chromosome
|
||||
|
||||
def generatePopulation(data, mapaBoxy, wheelxy, ileWPopulacji):
|
||||
populacja = []
|
||||
for i in range(ileWPopulacji):
|
||||
populacja.append(generateChromosome(data, mapaBoxy, wheelxy))
|
||||
|
||||
return populacja
|
||||
|
||||
def randomBox(mapa, regals, ile):
|
||||
|
||||
regals = regals
|
||||
mapa = mapa
|
||||
tupleList = []
|
||||
ileRegalow = len(regals)
|
||||
iteration = 0
|
||||
|
||||
while iteration < ileRegalow and iteration < ile:
|
||||
regal = random.choice(regals)
|
||||
if regal in tupleList:
|
||||
continue
|
||||
else:
|
||||
tupleList.append(regal)
|
||||
iteration+=1
|
||||
|
||||
for (i,j,x) in tupleList:
|
||||
box = Box()
|
||||
mapa[i][j].put(box)
|
||||
"""
|
||||
for t in tupleList:
|
||||
listaRegalow.append((t[0],t[1]))
|
||||
data.zajeteRegaly = listaRegalow
|
||||
"""
|
||||
return mapa
|
||||
|
||||
def znajdzBox(mapa, regals):
|
||||
zajeteRegaly = []
|
||||
|
||||
for (x,y,z) in regals:
|
||||
shelf = mapa[x][y]
|
||||
tmp = shelf.occupied
|
||||
if(tmp == True):
|
||||
zajeteRegaly.append((x,y))
|
||||
return zajeteRegaly
|
||||
@ -1,26 +0,0 @@
|
||||
from Mapa.shelf import Shelf
|
||||
from wheel import Wheel
|
||||
from Mapa.box import Box
|
||||
import random
|
||||
|
||||
def randomBox(data, mapa_, regals_, ile):
|
||||
|
||||
regals = regals_
|
||||
mapa = mapa_
|
||||
tupleList = []
|
||||
ileRegalow = len(regals)
|
||||
iteration = 0
|
||||
while iteration < ileRegalow and iteration < ile:
|
||||
regal = random.choice(regals)
|
||||
if regal in tupleList:
|
||||
continue
|
||||
else:
|
||||
tupleList.append(regal)
|
||||
iteration+=1
|
||||
|
||||
for (i,j,x) in tupleList:
|
||||
box = Box()
|
||||
mapa[i][j].put(box)
|
||||
data.zajeteRegaly = tupleList
|
||||
|
||||
return mapa
|
||||
26
program.py
26
program.py
@ -4,7 +4,7 @@ from Mapa.generate import Generate
|
||||
from Mapa.floor import Floor
|
||||
from Mapa.wall import Wall
|
||||
from Mapa.shelf import Shelf
|
||||
from genetyczny.randomBox import *
|
||||
from genetyczny.funkcje import *
|
||||
from wheel import Wheel
|
||||
from Mapa.boxOnTheFloor import BoxOnTheFloor
|
||||
from Mapa.box import Box
|
||||
@ -25,6 +25,7 @@ class MainWindow:
|
||||
pygame.display.set_caption('Inteligentny wózek widłowy')
|
||||
self.clock = pygame.time.Clock()
|
||||
self.ticks = 0
|
||||
self.data = Data()
|
||||
self.moves = []
|
||||
self.regals = []
|
||||
self.map = Generate.generate(szerokosc+2, wysokosc+2, kruche, latwopalne, radioaktywne, niebezpieczne)
|
||||
@ -35,7 +36,7 @@ class MainWindow:
|
||||
#create
|
||||
self.wheel = Wheel(self.screen, self.cell)
|
||||
###
|
||||
self.data = Data()
|
||||
|
||||
|
||||
#przekladanie wartosci liczbowych z tablicy na mapę obiektow
|
||||
|
||||
@ -49,7 +50,7 @@ class MainWindow:
|
||||
self.mapForAStar[i][j] = 0
|
||||
elif (self.map[i][j]==23):
|
||||
self.map[i][j] = UnboxOnTheFloor(self.screen, self.cell, i, j)
|
||||
self.mapForAStar[i][j] = 1
|
||||
self.mapForAStar[i][j] = 0
|
||||
|
||||
else:
|
||||
#regals (kordy i,j oraz rodzaj regału)
|
||||
@ -57,7 +58,14 @@ class MainWindow:
|
||||
self.map[i][j] = Shelf(self.screen, self.cell, i, j, (self.map[i][j]-3)%4, (self.map[i][j]-3)//4)
|
||||
self.mapForAStar[i][j] = 1
|
||||
|
||||
self.map = randomBox(self.data, self.map, self.regals, 10)
|
||||
self.map = randomBox(self.map, self.regals, 10)
|
||||
self.data.mapa = self.map
|
||||
znajdzUnbox(self.data,self.map)
|
||||
self.data.zajeteRegaly = znajdzBox(self.map, self.regals)
|
||||
tmp = self.mapForAStar[:]
|
||||
self.data.astarMap = self.data.genMap(tmp)
|
||||
|
||||
|
||||
#################################################
|
||||
#loop
|
||||
while True:
|
||||
@ -82,7 +90,12 @@ class MainWindow:
|
||||
for event in pygame.event.get():
|
||||
if(event.type==pygame.QUIT):
|
||||
sys.exit()
|
||||
"""
|
||||
elif(event.type == pygame.K_p):
|
||||
print("eee")
|
||||
"""
|
||||
elif(event.type==pygame.KEYDOWN):
|
||||
populacja = generatePopulation(self.data, self.data.astarMap, [self.wheel.ns, self.wheel.we], 100)
|
||||
if len(self.moves)==0:
|
||||
self.wheel.move(event, self.map)
|
||||
elif(event.type==pygame.MOUSEBUTTONDOWN):
|
||||
@ -92,7 +105,7 @@ class MainWindow:
|
||||
self.map[0][2] = BoxOnTheFloor(self.screen, self.cell, 0, 2, Box())
|
||||
|
||||
star = AStar()
|
||||
path = star.search([self.wheel.ns, self.wheel.we], [0, 2], self.mapForAStar, 1)
|
||||
path = star.search([self.wheel.ns, self.wheel.we], [0, 2], self.mapForAStar, 1, 1)
|
||||
cns = self.wheel.ns
|
||||
cwe = self.wheel.we
|
||||
value = path[cns][cwe]
|
||||
@ -121,7 +134,7 @@ class MainWindow:
|
||||
self.mapForAStar[where[0]][where[1]] = 0
|
||||
# wyszukiwanie ścieżki z miejsca podjęcia paczki do regału
|
||||
# zmienna path posiada macierz oraz kroki podjęte przez wózek
|
||||
path = star.search([0, 2], where, self.mapForAStar, 1)
|
||||
path = star.search([0, 2], where, self.mapForAStar, 1, 1)
|
||||
self.mapForAStar[where[0]][where[1]] = 1
|
||||
value = path[cns][cwe]
|
||||
while True:
|
||||
@ -146,6 +159,7 @@ class MainWindow:
|
||||
value=value+1
|
||||
continue
|
||||
break
|
||||
self.data.zajeteRegaly = znajdzBox(self.map, self.regals)
|
||||
def draw(self):
|
||||
self.screen.fill((33,69,108))
|
||||
for i in range(len(self.map)):
|
||||
|
||||
Loading…
Reference in New Issue
Block a user