Dodanie 'node.py'
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node.py
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169
node.py
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from dimensions import *
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import heapq
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def getTotalCost(x):
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return x.totalCost
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def showPath(node, goal):
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path = node.findPath(goal)
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for x in path:
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print(x.position, end=" ")
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print(x.rotation, end=" ")
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print(x.action)
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print("***")
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def succesor (node):
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succesors = []
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if node.position[0]+node.rotation[0] in range(0,GSIZE) and node.position[1]+node.rotation[1] in range(0,GSIZE):
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child = Node(node.field, [node.position[0]+node.rotation[0], node.position[1]+node.rotation[1]], node.rotation)
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child.action = "move"
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succesors.append(child)
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if node.rotation == [1,0]:
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child = Node(node.field, node.position, [0,-1])
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child.action = "left"
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succesors.append(child)
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child = Node(node.field, node.position, [0,1])
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child.action = "right"
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succesors.append(child)
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if node.rotation == [0,1]:
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child = Node(node.field, node.position, [-1, 0])
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succesors.append(child)
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child.action = "right"
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child = Node(node.field, node.position, [1, 0])
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child.action = "left"
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succesors.append(child)
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if node.rotation == [-1,0]:
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child = Node(node.field, node.position, [0,-1])
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succesors.append(child)
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child.action = "right"
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child = Node(node.field, node.position, [0,1])
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child.action = "left"
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succesors.append(child)
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if node.rotation == [0,-1]:
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child = Node(node.field, node.position, [-1, 0])
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child.action = "left"
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succesors.append(child)
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child = Node(node.field, node.position, [1, 0])
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child.action = "right"
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succesors.append(child)
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return succesors
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class Node():
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def __init__(self, field, position, rotation):
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self.parent = 0
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self.startCost = 0
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self.heuristic = 0
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self.totalCost = 0
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self.position = position
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self.rotation = rotation
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self.action = 0
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self.field = field
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def __lt__(self, other):
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return self.totalCost < other.totalCost
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def findPath(self, goal):
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startNode = Node(self.field, self.position, self.rotation)
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goalNode = goal
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openList = []
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closedList = []
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startNode.parent = None
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openList.append(startNode)
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while len(openList) > 0:
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openList.sort(key=getTotalCost)
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currentNode = openList.pop(0)
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closedList.append(currentNode)
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if currentNode.position == goalNode:
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path = []
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current = currentNode
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while current is not None:
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path.append(current)
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current = current.parent
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return path[::-1]
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children = succesor(currentNode)
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perm = 0
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for child in children:
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for closedChild in closedList:
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if child.position == closedChild.position and child.rotation == closedChild.rotation and child.action == closedChild.action:
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perm = 1
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break
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if perm == 1:
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perm = 0
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continue
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child.parent = currentNode
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child.startCost = currentNode.startCost + child.field[child.position[0]][child.position[1]].moveCost
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child.heuristic = abs(goal[0]-child.position[0]) + abs(goal[1]-child.position[1])
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child.totalCost = child.startCost+child.heuristic
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for openNode in openList:
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if child.position == openNode.position and child.rotation == openNode.rotation and child.action == openNode.action and child.startCost > openNode.startCost:
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perm = 1
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break
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if perm == 1:
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perm = 0
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continue
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openList.append(child)
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def findPathToPlant(self):
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startNode = Node(self.field, self.position, self.rotation)
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openList = []
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closedList = []
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startNode.parent = None
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heapq.heappush(openList, startNode)
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while len(openList) > 0:
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currentNode = heapq.heappop(openList)
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closedList.append(currentNode)
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if currentNode.field[currentNode.position[0]][currentNode.position[1]].planted and currentNode.field[currentNode.position[0]][currentNode.position[1]].hydration < 2:
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path = []
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for _ in range(currentNode.field[currentNode.position[0]][currentNode.position[1]].hydration, 4):
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path.append("hydrate")
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current = currentNode
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while current is not None:
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path.append(current.action)
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current = current.parent
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return path[::-1]
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children = succesor(currentNode)
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perm = 0
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for child in children:
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for closedChild in closedList:
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if child.position == closedChild.position and child.rotation == closedChild.rotation and child.action == closedChild.action:
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perm = 1
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break
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if perm == 1:
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perm = 0
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continue
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child.parent = currentNode
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child.startCost = currentNode.startCost + child.field[child.position[0]][child.position[1]].moveCost
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child.heuristic = abs(startNode.position[0]-child.position[0]) + abs(startNode.position[1]-child.position[1])
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child.totalCost = child.startCost+child.heuristic
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for openNode in openList:
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if child.position == openNode.position and child.rotation == openNode.rotation and child.action == openNode.action and child.startCost >= openNode.startCost:
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perm = 1
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break
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if perm == 1:
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perm = 0
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continue
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heapq.heappush(openList, child)
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