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# Opis dokumentu
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Ten dokument to raport z wykonanego podprojektu na przedmiot Sztuczna Inteligencja. Celem
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zadania jest implementacja algorytmu genetycznego w projekcie o tematyce inteligentny traktor.
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# Zastosowanie algorytmu
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Algorytm został wykorzystany do wygenerowania zbioru roślin do zasadzenia na bazie zebranych wcześniej roślin
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# Skrócony opis implementacji w projekcie wspólnym
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* Na początku dla każdego pola zawierającego buraki, zostanie wygenerowany kod genetyczny roślin z tego pola.
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* Funkcja Move teraz zajmuje się również zbieraniem i wywoływaniem sadzenia roślin
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* Funkcja przypiszKod decyduje czy należy zasadzić jedną z modyfikowanych genetycznie roślin, czy należy zasadzić nową (losową).
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* Gdy liczba zebranych buraków osiągnie określoną wartość, zostanie przeprowadzony algorytm genetyczny i powstanie tablica roślin do zasadzenia
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# Opis algorytmu genetycznego
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* Algorytm wykonuje 5 iteracji, w których dokonuje selekcji osobników populacji, które zostaną poddane rozrodowi i wytwarza kolejne pokolenie populacji. Po wyjściu z pętli metodą rankingu selekcjonuje najlepszą część ostatniego pokolenia.
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* Selekcja odbywa się metodą ruletki. Obliczana jest wartość funkcji dostosowania dla każdego osobnika. Im lepsza wartość, tym większa szansa na wylosowanie.
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* Funkcja dostosowania polega na wyliczeniu średniej arytmetycznej trzech wartości: smaku, rozmiaru i koloru rośliny, które są zakodowane w łańcuchu znaków.
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* Funkcja crossover zajmuje się wywołaniem krzyżowania odpowiedniej liczby osobników
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* Zastosowana została metoda krzyżowania równomiernego (uniform crossover) z małą modyfikacją, zmniejszającą szansę na to, że dziecko będzie "klonem" rodzica. Istnieje również mała szansa, że dojdzie do równomiernej mutacji (uniform mutation), w której losowa cecha dziecka zostaje wygenerowana na nowo.
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@ -1,211 +0,0 @@
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# Podprojekt indywidualny - Szymon Parafiński
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---
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W folderze Sklearn znajduje się wykorzystana baza, wygenerowane drzewo oraz reszta plików związana z podprojektem.
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## Wykorzystana metoda uczenia
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Do realizacji podprojektu wykorzystano drzewa decyzyjne do decydowania, co należy zrobić po najechaniu na konkretne pole.
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Drzewo decyduje na jakim etapie jest roślina analizując poszczególne stany danego pola:
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- Dopiero co zasiana (kiełek)
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- 0: "Nie_podejmuj_działania"
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- Roślinka kiełkująca (młoda)
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- 1: "Zastosuj_nawóz"
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- Roślina starzejąca się, bez środka ochrony
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- 2: "Zastosuj_środek"
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- Roślinka dojrzałam gotowa do zbioru
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- 4: "Zbierz"
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- Roślina zepsuta, nie nadaje się do użytku
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- 5: "Roślina_już_zgniła-zbierz_i_wyrzuć".
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Do implementacji drzew decyzyjnych w Pythonie wykorzystane zostały biblioteki
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**sklearn** , **pandas**,**sys** oraz **pickle**.
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## Uczenie modelu
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#### loadLearningBase(): [python]
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Metoda **loadLearningBase** rozpoczyna od utworzenia zbioru uczącego na podstawie tabeli zawierającej informacje wszystkich możliwych stanach roślinki.
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* *col_names* -> zawiera nagłówki poszczególnych kolumn
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* *feature_cols* -> zawiera nagłówki z kolumnami w których znajdują się dane do analizy
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```
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col_names = ['Warzywo', 'Nawoz', 'Srodek', 'Stan', 'Dzialanie']
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base = pd.read_csv("Database.csv", header=None, names=col_names)
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feature_cols = ['Warzywo', 'Nawoz', 'Srodek', 'Stan']
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""" print dataset"""
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# print(base.head())
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```
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Tutaj dzielimy podane kolumny na dwa typy zmiennych:
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* zmienne docelowe ---> y
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* i zmienne funkcyjne ---> X
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Aby móc sprawdzić wydajność modelu, dzielę zestaw danych na zestaw szkoleniowy i zestaw testowy ---> za pomocą funkcji train_test_split ().
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```
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X = base[feature_cols] # Features
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y = base.Dzialanie # Target variable
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# Split dataset into training set and test set
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X_train, X_test, y_train, y_test = train_test_split(X, y, test_size=0.3,
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random_state=1) # 70% training and 30% test
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```
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Wywołanie funkcji odpowiedzialnej za wygenerowanie drzewa.
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```
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data = generateDecisionTree(X_train, X_test, y_train, y_test)
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```
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Dodatkowe elementy pozwalające na wizualizację stworzonego drzewa decyzyjnego poprzez wygenerowanie drzewa zależności if/else lub najpierw do pliku .dot, który następnie poddany odpowiedniej 'obróbce' utworzy obraz.
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```
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"""generate data for image"""
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# tree.export_graphviz(data, out_file='treeData.dot', filled=True, rounded=True, special_characters=True,
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# feature_names=feature_cols)
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"""Printing if_styled tree to console"""
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# tree_to_code(data, feature_cols)
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return data
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```
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---
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#### generateDecisionTree(): [python]
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Metoda **generateDecisionTree** generuje drzewo decyzyjne na podstawie dostarczonej bazy danych.
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Do zmiennej *clf* zapisujemy drzewo decyzyjne z biblioteki **sklearn** utworzone za pomocą metody **DecisionTreeClassifier** z parametrem **criterion** ustawionym na **"entropy"**, który pozwala na uzyskiwanie informacji.
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Na drzewie wywołujemy metodę **fit**, która dopasowuje do drzewa zbiór uczący zadany w tablicach **X_train** i **y_train**.
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Po dopasowaniu danych możemy przewidzieć stan nowych przykładów, co robimy wywołując na drzewie metodę **predict** z parametrami, które zawierają informację o stanie danego pola.
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```
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def generateDecisionTree(X_train, X_test, y_train, y_test):
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# Create Decision Tree classifer object
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clf = DecisionTreeClassifier(criterion="entropy")
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# Train Decision Tree Classifer
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clf = clf.fit(X_train, y_train)
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```
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Aby ocenić dokładność naszego modelu przewidujemy odpowiedzi dla naszego zestawu testowego, aby móc go porównać z zestawem y_test i otrzymać dokładność wygenerowanego modelu.
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```
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# Predict the response for test dataset
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y_pred = clf.predict(X_test)
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"""Model Accuracy, how often is the classifier correct """
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# print("Accuracy:", metrics.accuracy_score(y_test, y_pred))
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```
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---
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#### main(): [python]
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Metoda main wywołuje pozostałe metody oraz zapisuje wygenerowany model do pliku .sav aby nie było trzeba ponownie generować drzewa, tylko wczytać już te wygenerowane.
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```
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generated = loadLearningBase()
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# Save generated tree
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filename = 'decisionTree.sav'
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pickle.dump(generated, open(filename, 'wb'))
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```
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## Implementacja w projekcie całościowym
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Klasa wywoływana w **C++** nazywa się *injectCode*.
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Działanie polega na tym że, funkcja **stanPola** sprawdza jakie wartości ma dane pole i generuje odpowiednie polecenie do wykonania.
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#### stanPola(): [C++]
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```
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void stanPola(int x, int y) {
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//[x][x][0] = 0 - brak chemii
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//[x][x][0] = 1 - tylko nawóz
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//[x][x][0] = 2 - tylko środek
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//[x][x][0] = 3 - środek i nawóz
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//[x][x][1] - wartość wzrostu rośliny
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polecenie = "python pliki/injectCode.py 1 ";
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if (stan[x][y][0] == 0)
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polecenie.append("0 0 ");
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if (stan[x][y][0] == 1)
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polecenie.append("1 0 ");
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if (stan[x][y][0] == 2)
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polecenie.append("0 1 ");
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if (stan[x][y][0] == 3)
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polecenie.append("1 1 ");
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int w = (stan[x][y][1]);
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std::string s = std::to_string(w);
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polecenie.append(s);
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decisionTree(polecenie);
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}
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```
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Następnie funckja **decisionTree** wykonuje wygenerowane zapytanie.
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#### decisionTree(): [C++]
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```
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void decisionTree(string polecenie) {
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std::string str = polecenie;
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const char* c = str.c_str();
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system(c);
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int line = 0;
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ifstream inFile;
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inFile.open("pliki/dec.txt");
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if (!inFile) {
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cout << "Unable to open file";
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exit(1); // terminate with error
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}
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while (inFile >> line) {
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decyzja = line;
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}
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inFile.close();
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akcja();
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}
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```
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#### injectCode(): [python]
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```
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import pickle
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import sys
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def prediction(warzywo, nawoz ,srodek, stan_wzrostu):
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filename = 'pliki/decisionTree.sav'
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tree = pickle.load(open(filename, 'rb'))
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val = (tree.predict([[warzywo, nawoz, srodek, stan_wzrostu]]))
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save(val)
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def save(prediction):
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pred = str(prediction)
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plik = open('pliki/dec.txt', 'w')
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plik.write(pred[1])
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plik.close()
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def decision(prediction):
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if prediction == 0:
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return "Nie_podejmuj_dzialania"
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elif prediction == 1:
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return "Zastosuj_nawoz"
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elif prediction == 2:
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return "Zastosuj_srodek"
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elif prediction == 4:
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return "Zbierz"
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elif prediction == 5:
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return "Roslina_juz_zgnila__zbierz_i_wyrzuc"
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if __name__ == '__main__':
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# Map command line arguments to function arguments.
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prediction(*sys.argv[1:])
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```
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Generowane polecenie wygląda w ten sposób:
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```
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python injectCode.py a b c d
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```
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Gdzie:
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* a -> rodzaj warzywa
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* b -> czy roślina była nawożona
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* 0: "nie"
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* 1: "tak"
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* c -> czy na roślinie był stosowany środek ochronny
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* 0: "nie"
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* 1: "tak"
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* d -> stan wzrostu w jakim znajduje się roślina
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* [1,20) - kiełek,
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* [20,45) - młoda roślina,
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* [45,85) - dojrzała,
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* [80,100] - starzejąca się.
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@ -1,105 +0,0 @@
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# Lista funkcji
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-----
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# sigmoid, pSigmoid
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funkcja sigmoid przetwarzająca podaną liczbę na liczbę z przedziału [0 ; 1]
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funkcja psigmoid jest pochodną sigmoid
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-----
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# lookOFVege
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funkcja przemieniająca stan rośliny na to 'jak wygląda'
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-----
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# setValusesRange
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funkcja przygotowująca dane pod sigmoid
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-----
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# gradient
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funkcja gradientu przechowująca wzrosty połączeń neuronów
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-----
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# buildMatrix
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funkcja tworząca czystą macierz połączeń neuronów
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-----
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# buildAvrGrad
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funkcja tworząca czystą macierz średnich gradientów
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-----
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# neuronsInputBuild
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funkcja uzupełniająca dane wejściowe neuronów, uzupełniająca wyjścia na podstawie wag macierzy połączeń oraz zwracająca koszt dla wybranego oczekiwanego rozwiązania
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-----
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# backProp
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funkcja wstecznej propagacji obniżająca koszt conajmniej 50 oraz zapisująca gradient tego kosztu
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-----
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# network
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funkcja przekazująca dane oczekiwane o wstecznej propagacji
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-----
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# bestMatrixBuild
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funkcja budująca najlepszą macierz wag na podstawie średnich gradientów
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-----
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# tests
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zbiory testowe
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## neuroTest1
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test z jednym konkrenym warzywem na polu
|
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## neuroTest2
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test z warzywami blokującymi oczekiwane warzywo
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-----
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# neuroStart1
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funkcja inicjalizująca naukę traktora
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-----
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# chousePath
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funkcja poruszająca traktor do najlepszego pola
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-----
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# testOfNeuroMove
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test do sprawdzenia działania traktora po nauce
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-----
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# main
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inicjalizacja nauki oraz użycia jej
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|
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1166
backups/Main.cpp
1166
backups/Main.cpp
File diff suppressed because it is too large
Load Diff
@ -1,606 +0,0 @@
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#include<iostream>
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#include<stdlib.h>
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#include<windows.h>
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#include<conio.h>
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#include<string>
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#include<list>
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#include<set>
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#include<math.h>
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#include<stack>
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|
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using namespace std;
|
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|
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const float maxFloat=FLT_MAX;
|
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const int ROW = 27;
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const int COL = 27;
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typedef pair<int, int> Pair;
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typedef pair<double, pair<int, int>> pPair;
|
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struct cell
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{
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int parent_i, parent_j;
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double f, g, h;
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};
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|
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char pole[27][27][2];
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int pozycjaTraktoraX = 1, pozycjaTraktoraY = 1;
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char currentWay = 'S';
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void color(string foregroundColor, string backgroundColor)
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{
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HANDLE hOut;
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hOut = GetStdHandle(STD_OUTPUT_HANDLE);
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int foregroundCode = 15;
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if (foregroundColor == "black")
|
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foregroundCode = 0;
|
||||
if (foregroundColor == "dark_blue")
|
||||
foregroundCode = 1;
|
||||
if (foregroundColor == "green")
|
||||
foregroundCode = 2;
|
||||
if (foregroundColor == "cyan")
|
||||
foregroundCode = 3;
|
||||
if (foregroundColor == "dark_red")
|
||||
foregroundCode = 4;
|
||||
if (foregroundColor == "purple")
|
||||
foregroundCode = 5;
|
||||
if (foregroundColor == "dark_yellow")
|
||||
foregroundCode = 6;
|
||||
if (foregroundColor == "light_gray")
|
||||
foregroundCode = 7;
|
||||
if (foregroundColor == "gray")
|
||||
foregroundCode = 8;
|
||||
if (foregroundColor == "blue")
|
||||
foregroundCode = 9;
|
||||
if (foregroundColor == "lime")
|
||||
foregroundCode = 10;
|
||||
if (foregroundColor == "light_blue")
|
||||
foregroundCode = 11;
|
||||
if (foregroundColor == "red")
|
||||
foregroundCode = 12;
|
||||
if (foregroundColor == "magenta")
|
||||
foregroundCode = 13;
|
||||
if (foregroundColor == "yellow")
|
||||
foregroundCode = 14;
|
||||
if (foregroundColor == "white")
|
||||
foregroundCode = 15;
|
||||
|
||||
int backgroundCode = 0;
|
||||
if (backgroundColor == "black")
|
||||
backgroundCode = 0;
|
||||
if (backgroundColor == "dark_blue")
|
||||
backgroundCode = 1;
|
||||
if (backgroundColor == "green")
|
||||
backgroundCode = 2;
|
||||
if (backgroundColor == "cyan")
|
||||
backgroundCode = 3;
|
||||
if (backgroundColor == "dark_red")
|
||||
backgroundCode = 4;
|
||||
if (backgroundColor == "purple")
|
||||
backgroundCode = 5;
|
||||
if (backgroundColor == "dark_yellow")
|
||||
backgroundCode = 6;
|
||||
if (backgroundColor == "light_gray")
|
||||
backgroundCode = 7;
|
||||
if (backgroundColor == "gray")
|
||||
backgroundCode = 8;
|
||||
if (backgroundColor == "blue")
|
||||
backgroundCode = 9;
|
||||
if (backgroundColor == "lime")
|
||||
backgroundCode = 10;
|
||||
if (backgroundColor == "light_blue")
|
||||
backgroundCode = 11;
|
||||
if (backgroundColor == "red")
|
||||
backgroundCode = 12;
|
||||
if (backgroundColor == "magenta")
|
||||
backgroundCode = 13;
|
||||
if (backgroundColor == "yellow")
|
||||
backgroundCode = 14;
|
||||
if (backgroundColor == "white")
|
||||
backgroundCode = 15;
|
||||
SetConsoleTextAttribute(hOut, foregroundCode + backgroundCode * 16);
|
||||
}
|
||||
|
||||
void SetWindow(int Width, int Height)
|
||||
{
|
||||
_COORD coord;
|
||||
coord.X = Width;
|
||||
coord.Y = Height;
|
||||
|
||||
_SMALL_RECT Rect;
|
||||
Rect.Top = 0;
|
||||
Rect.Left = 0;
|
||||
Rect.Bottom = Height - 1;
|
||||
Rect.Right = Width - 1;
|
||||
|
||||
HANDLE Handle = GetStdHandle(STD_OUTPUT_HANDLE); // Get Handle
|
||||
SetConsoleScreenBufferSize(Handle, coord); // Set Buffer Size
|
||||
SetConsoleWindowInfo(Handle, TRUE, &Rect); // Set Window Size
|
||||
}
|
||||
|
||||
void updatePola()
|
||||
{
|
||||
system("cls");
|
||||
for (int i = 0; i < 27; i++)
|
||||
{
|
||||
for (int j = 0; j < 27; j++)
|
||||
{
|
||||
char item = pole[i][j][0];
|
||||
switch (item)
|
||||
{
|
||||
case 'B':
|
||||
{
|
||||
color("purple", "dark_yellow");
|
||||
}break;
|
||||
case 'T':
|
||||
{
|
||||
color("red", "dark_yellow");
|
||||
}break;
|
||||
case 'G':
|
||||
{
|
||||
color("lime", "dark_yellow");
|
||||
}break;
|
||||
case '.':
|
||||
{
|
||||
color("yellow", "dark_yellow");
|
||||
}break;
|
||||
case '#':
|
||||
{
|
||||
color("light_gray", "gray");
|
||||
}break;
|
||||
}
|
||||
cout << pole[i][j][0];
|
||||
|
||||
}
|
||||
cout << endl;
|
||||
color("white", "black");
|
||||
}
|
||||
}
|
||||
|
||||
void correctMovement(char wantedWay)
|
||||
{
|
||||
while (currentWay != wantedWay)
|
||||
{
|
||||
switch (currentWay)
|
||||
{
|
||||
case 'N':
|
||||
{
|
||||
if (wantedWay == 'S')
|
||||
currentWay = wantedWay;
|
||||
else
|
||||
currentWay = 'W';
|
||||
}break;
|
||||
case 'S':
|
||||
{
|
||||
if (wantedWay == 'N')
|
||||
currentWay = wantedWay;
|
||||
else
|
||||
currentWay = 'W';
|
||||
}break;
|
||||
case 'W':
|
||||
{
|
||||
if (wantedWay == 'E')
|
||||
currentWay = wantedWay;
|
||||
else
|
||||
currentWay = 'N';
|
||||
}break;
|
||||
case 'E':
|
||||
{
|
||||
if (wantedWay == 'W')
|
||||
currentWay = wantedWay;
|
||||
else
|
||||
currentWay = 'N';
|
||||
}break;
|
||||
}
|
||||
}
|
||||
}
|
||||
void Move(char kierunek)
|
||||
{
|
||||
switch (kierunek)
|
||||
{
|
||||
//góra-(w)
|
||||
case 'w':
|
||||
{
|
||||
if (pole[pozycjaTraktoraY - 1][pozycjaTraktoraX][0] != '#')
|
||||
{
|
||||
correctMovement('N');
|
||||
pole[pozycjaTraktoraY][pozycjaTraktoraX][0] = '.';
|
||||
pozycjaTraktoraY--;
|
||||
pole[pozycjaTraktoraY][pozycjaTraktoraX][0] = 'T';
|
||||
}
|
||||
updatePola();
|
||||
}break;
|
||||
//dół-(s)
|
||||
case 's':
|
||||
{
|
||||
if (pole[pozycjaTraktoraY + 1][pozycjaTraktoraX][0] != '#')
|
||||
{
|
||||
correctMovement('S');
|
||||
pole[pozycjaTraktoraY][pozycjaTraktoraX][0] = '.';
|
||||
pozycjaTraktoraY++;
|
||||
pole[pozycjaTraktoraY][pozycjaTraktoraX][0] = 'T';
|
||||
}
|
||||
updatePola();
|
||||
}break;
|
||||
//lewo-(a)
|
||||
case 'a':
|
||||
{
|
||||
if (pole[pozycjaTraktoraY][pozycjaTraktoraX - 1][0] != '#')
|
||||
{
|
||||
correctMovement('W');
|
||||
pole[pozycjaTraktoraY][pozycjaTraktoraX][0] = '.';
|
||||
pozycjaTraktoraX--;
|
||||
pole[pozycjaTraktoraY][pozycjaTraktoraX][0] = 'T';
|
||||
}
|
||||
updatePola();
|
||||
}break;
|
||||
//prawo-(d)
|
||||
case 'd':
|
||||
{
|
||||
if (pole[pozycjaTraktoraY][pozycjaTraktoraX + 1][0] != '#')
|
||||
{
|
||||
correctMovement('E');
|
||||
pole[pozycjaTraktoraY][pozycjaTraktoraX][0] = '.';
|
||||
pozycjaTraktoraX++;
|
||||
pole[pozycjaTraktoraY][pozycjaTraktoraX][0] = 'T';
|
||||
}
|
||||
updatePola();
|
||||
}break;
|
||||
}
|
||||
}
|
||||
|
||||
bool isValid(int x, int y)
|
||||
{
|
||||
if (pole[x][y][0] != '#')
|
||||
{
|
||||
return true;
|
||||
}
|
||||
return false;
|
||||
}
|
||||
bool isDestination(int x, int y,Pair dest)
|
||||
{
|
||||
if (dest.first == x && dest.second == y)
|
||||
{
|
||||
return true;
|
||||
}
|
||||
return false;
|
||||
}
|
||||
double calculateHValue(int x, int y, Pair dest)
|
||||
{
|
||||
return abs(x - dest.first) + abs(y - dest.second);
|
||||
}
|
||||
void tracePath(cell cellDetails[][COL], Pair dest)
|
||||
{
|
||||
//printf("\nThe Path is "); //----start info
|
||||
int row = dest.first;
|
||||
int col = dest.second;
|
||||
|
||||
stack<Pair> Path;
|
||||
|
||||
while (!(cellDetails[row][col].parent_i == row
|
||||
&& cellDetails[row][col].parent_j == col))
|
||||
{
|
||||
Path.push(make_pair(row, col));
|
||||
int temp_row = cellDetails[row][col].parent_i;
|
||||
int temp_col = cellDetails[row][col].parent_j;
|
||||
row = temp_row;
|
||||
col = temp_col;
|
||||
}
|
||||
|
||||
Path.push(make_pair(row, col));
|
||||
while (!Path.empty())
|
||||
{
|
||||
pair<int, int> p = Path.top();
|
||||
Path.pop();
|
||||
if (p.first > pozycjaTraktoraX)
|
||||
Move('d');
|
||||
if (p.first < pozycjaTraktoraX)
|
||||
Move('a');
|
||||
if (p.second > pozycjaTraktoraY)
|
||||
Move('s');
|
||||
if (p.second < pozycjaTraktoraY)
|
||||
Move('w');
|
||||
|
||||
//printf("-> (%d,%d) ", p.first, p.second); //---- informacja wierzchołku
|
||||
Sleep(1000);
|
||||
}
|
||||
|
||||
return;
|
||||
}
|
||||
void aStarSearch(int grid[][COL],Pair src, Pair dest)
|
||||
{
|
||||
bool closedList[ROW][COL];
|
||||
memset(closedList, false, sizeof(closedList));
|
||||
|
||||
cell cellDetails[ROW][COL];
|
||||
|
||||
int i, j;
|
||||
for (i = 0; i < ROW; i++)
|
||||
{
|
||||
for (j = 0; j < COL; j++)
|
||||
{
|
||||
cellDetails[i][j].f = maxFloat;
|
||||
cellDetails[i][j].g = maxFloat;
|
||||
cellDetails[i][j].h = maxFloat;
|
||||
cellDetails[i][j].parent_i = -1;
|
||||
cellDetails[i][j].parent_j = -1;
|
||||
}
|
||||
}
|
||||
i = src.first, j = src.second;
|
||||
cellDetails[i][j].f = 0.0;
|
||||
cellDetails[i][j].g = 0.0;
|
||||
cellDetails[i][j].h = 0.0;
|
||||
cellDetails[i][j].parent_i = i;
|
||||
cellDetails[i][j].parent_j = j;
|
||||
|
||||
set<pPair> openList;
|
||||
openList.insert(make_pair(0.0, make_pair(i, j)));
|
||||
bool foundDest = false;
|
||||
|
||||
while (!openList.empty())
|
||||
{
|
||||
pPair p = *openList.begin();
|
||||
openList.erase(openList.begin());
|
||||
i = p.second.first;
|
||||
j = p.second.second;
|
||||
closedList[i][j] = true;
|
||||
|
||||
double gNew, hNew, fNew;
|
||||
double waga = 1.0;
|
||||
waga = ((double)pole[j][i][1] - 48)*1.0;//----waga
|
||||
|
||||
//----------- 1st Successor (North) ------------
|
||||
if (isValid(i - 1, j) == true)
|
||||
{
|
||||
if (isDestination(i - 1, j, dest) == true)
|
||||
{
|
||||
cellDetails[i - 1][j].parent_i = i;
|
||||
cellDetails[i - 1][j].parent_j = j;
|
||||
//printf("The destination cell is found\n");
|
||||
tracePath(cellDetails, dest);
|
||||
foundDest = true;
|
||||
return;
|
||||
}
|
||||
else if (closedList[i - 1][j] == false)
|
||||
{
|
||||
gNew = cellDetails[i][j].g + waga;
|
||||
hNew = calculateHValue(i - 1, j, dest);
|
||||
fNew = gNew + hNew;
|
||||
|
||||
if (cellDetails[i - 1][j].f == maxFloat ||
|
||||
cellDetails[i - 1][j].f > fNew)
|
||||
{
|
||||
openList.insert(make_pair(fNew,
|
||||
make_pair(i - 1, j)));
|
||||
|
||||
|
||||
cellDetails[i - 1][j].f = fNew;
|
||||
cellDetails[i - 1][j].g = gNew;
|
||||
cellDetails[i - 1][j].h = hNew;
|
||||
cellDetails[i - 1][j].parent_i = i;
|
||||
cellDetails[i - 1][j].parent_j = j;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
//----------- 2nd Successor (South) ------------
|
||||
if (isValid(i + 1, j) == true)
|
||||
{
|
||||
if (isDestination(i + 1, j, dest) == true)
|
||||
{
|
||||
cellDetails[i + 1][j].parent_i = i;
|
||||
cellDetails[i + 1][j].parent_j = j;
|
||||
//printf("The destination cell is found\n");
|
||||
tracePath(cellDetails, dest);
|
||||
foundDest = true;
|
||||
return;
|
||||
}
|
||||
else if (closedList[i + 1][j] == false)
|
||||
{
|
||||
gNew = cellDetails[i][j].g + waga;
|
||||
hNew = calculateHValue(i + 1, j, dest);
|
||||
fNew = gNew + hNew;
|
||||
if (cellDetails[i + 1][j].f == maxFloat ||
|
||||
cellDetails[i + 1][j].f > fNew)
|
||||
{
|
||||
openList.insert(make_pair(fNew, make_pair(i + 1, j)));
|
||||
cellDetails[i + 1][j].f = fNew;
|
||||
cellDetails[i + 1][j].g = gNew;
|
||||
cellDetails[i + 1][j].h = hNew;
|
||||
cellDetails[i + 1][j].parent_i = i;
|
||||
cellDetails[i + 1][j].parent_j = j;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
//----------- 3rd Successor (East) ------------
|
||||
if (isValid(i, j + 1) == true)
|
||||
{
|
||||
if (isDestination(i, j + 1, dest) == true)
|
||||
{
|
||||
cellDetails[i][j + 1].parent_i = i;
|
||||
cellDetails[i][j + 1].parent_j = j;
|
||||
//printf("The destination cell is found\n");
|
||||
tracePath(cellDetails, dest);
|
||||
foundDest = true;
|
||||
return;
|
||||
}
|
||||
else if (closedList[i][j + 1] == false)
|
||||
{
|
||||
gNew = cellDetails[i][j].g + waga;
|
||||
hNew = calculateHValue(i, j + 1, dest);
|
||||
fNew = gNew + hNew;
|
||||
if (cellDetails[i][j + 1].f == maxFloat ||
|
||||
cellDetails[i][j + 1].f > fNew)
|
||||
{
|
||||
openList.insert(make_pair(fNew,
|
||||
make_pair(i, j + 1)));
|
||||
cellDetails[i][j + 1].f = fNew;
|
||||
cellDetails[i][j + 1].g = gNew;
|
||||
cellDetails[i][j + 1].h = hNew;
|
||||
cellDetails[i][j + 1].parent_i = i;
|
||||
cellDetails[i][j + 1].parent_j = j;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
//----------- 4th Successor (West) ------------
|
||||
if (isValid(i, j - 1) == true)
|
||||
{
|
||||
if (isDestination(i, j - 1, dest) == true)
|
||||
{
|
||||
cellDetails[i][j - 1].parent_i = i;
|
||||
cellDetails[i][j - 1].parent_j = j;
|
||||
//printf("The destination cell is found\n");
|
||||
tracePath(cellDetails, dest);
|
||||
foundDest = true;
|
||||
return;
|
||||
}
|
||||
else if (closedList[i][j - 1] == false)
|
||||
{
|
||||
gNew = cellDetails[i][j].g + waga;
|
||||
hNew = calculateHValue(i, j - 1, dest);
|
||||
fNew = gNew + hNew;
|
||||
if (cellDetails[i][j - 1].f == maxFloat ||
|
||||
cellDetails[i][j - 1].f > fNew)
|
||||
{
|
||||
openList.insert(make_pair(fNew,
|
||||
make_pair(i, j - 1)));
|
||||
cellDetails[i][j - 1].f = fNew;
|
||||
cellDetails[i][j - 1].g = gNew;
|
||||
cellDetails[i][j - 1].h = hNew;
|
||||
cellDetails[i][j - 1].parent_i = i;
|
||||
cellDetails[i][j - 1].parent_j = j;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/*if (foundDest == false)
|
||||
printf("Failed to find the Destination Cell\n");*/
|
||||
|
||||
return;
|
||||
}
|
||||
|
||||
void gogo(int endX,int endY)
|
||||
{
|
||||
updatePola();
|
||||
Sleep(1000);
|
||||
int grid[27][27];
|
||||
for (int i = 0; i < 27; i++)
|
||||
{
|
||||
for (int j = 0; j < 27; j++)
|
||||
{
|
||||
grid[i][j] = 0;
|
||||
}
|
||||
}
|
||||
Pair src = make_pair(pozycjaTraktoraX, pozycjaTraktoraY);
|
||||
Pair dest = make_pair(endX, endY);
|
||||
aStarSearch(grid, src, dest);
|
||||
}
|
||||
|
||||
void test1()
|
||||
{
|
||||
pole[1][3][0] = 'B';
|
||||
pole[1][3][1] = '9';
|
||||
pole[3][1][0] = 'B';
|
||||
pole[3][1][1] = '9';
|
||||
}
|
||||
void test2()
|
||||
{
|
||||
for (int i = 1; i < 26; i++)
|
||||
{
|
||||
for (int j = 1; j < i; j++)
|
||||
{
|
||||
pole[i][j][0] = 'B';
|
||||
pole[i][j][1] = '9';
|
||||
}
|
||||
}
|
||||
test1();
|
||||
updatePola();
|
||||
}
|
||||
|
||||
void start1()
|
||||
{
|
||||
int goalX = 3, goalY = 4;
|
||||
test1();
|
||||
pole[1][1][0] = 'T';
|
||||
pole[1][1][1] = '1';
|
||||
pole[goalY][goalX][0] = 'G';
|
||||
pole[goalY][goalX][1] = '9';
|
||||
gogo(goalX, goalY);
|
||||
}
|
||||
void start2()
|
||||
{
|
||||
int goalX = 6, goalY = 6;
|
||||
test2();
|
||||
pole[1][1][0] = 'T';
|
||||
pole[1][1][1] = '1';
|
||||
pole[goalY][goalX][0] = 'G';
|
||||
pole[goalY][goalX][1] = '9';
|
||||
gogo(goalX, goalY);
|
||||
}
|
||||
void start3()
|
||||
{
|
||||
int goalX = 6, goalY = 9;
|
||||
test2();
|
||||
pole[1][1][0] = 'T';
|
||||
pole[1][1][1] = '1';
|
||||
pole[goalY][goalX][0] = 'G';
|
||||
pole[goalY][goalX][1] = '9';
|
||||
gogo(goalX, goalY);
|
||||
}
|
||||
|
||||
int main()
|
||||
{
|
||||
SetWindow(50, 30);
|
||||
//create pola//
|
||||
for (int i = 0; i < 27; i++)
|
||||
{
|
||||
pole[i][0][0] = '#';
|
||||
pole[0][i][0] = '#';
|
||||
pole[26][i][0] = '#';
|
||||
pole[i][26][0] = '#';
|
||||
pole[i][0][1] = '9';
|
||||
pole[0][i][1] = '9';
|
||||
pole[26][i][1] = '9';
|
||||
pole[i][26][1] = '9';
|
||||
}
|
||||
for (int i = 1; i < 26; i++)
|
||||
{
|
||||
for (int j = 1; j < 26; j++)
|
||||
{
|
||||
pole[i][j][0] = '.';
|
||||
pole[i][j][1] = '1';
|
||||
}
|
||||
}
|
||||
|
||||
for (int i = 0; i < 25; i++)
|
||||
{
|
||||
pole[i + 1][i + 1][0] = 'B';
|
||||
pole[i + 1][i + 1][1] = '9';
|
||||
}
|
||||
|
||||
updatePola();
|
||||
|
||||
start3(); // testy start 1-3
|
||||
|
||||
//---------start---------//
|
||||
bool traktorDziala = true;
|
||||
|
||||
char akcja;
|
||||
|
||||
do
|
||||
{
|
||||
akcja = _getch();
|
||||
if (akcja == 'w' || akcja == 's' || akcja == 'a' || akcja == 'd')
|
||||
{
|
||||
Move(akcja);
|
||||
}
|
||||
if (akcja == '0')
|
||||
{
|
||||
traktorDziala = false;
|
||||
}
|
||||
} while (traktorDziala);
|
||||
//---------end---------//
|
||||
|
||||
return 0;
|
||||
}
|
||||
@ -1,712 +0,0 @@
|
||||
#include<iostream>
|
||||
#include<stdlib.h>
|
||||
#include<windows.h>
|
||||
#include<conio.h>
|
||||
#include<string>
|
||||
#include<list>
|
||||
#include<set>
|
||||
#include<math.h>
|
||||
#include<stack>
|
||||
#include<fstream>
|
||||
|
||||
using namespace std;
|
||||
|
||||
const float maxFloat=FLT_MAX;
|
||||
const int ROW = 27;
|
||||
const int COL = 27;
|
||||
typedef pair<int, int> Pair;
|
||||
typedef pair<double, pair<int, int>> pPair;
|
||||
struct cell
|
||||
{
|
||||
int parent_i, parent_j;
|
||||
double f, g, h;
|
||||
};
|
||||
|
||||
char pole[27][27][6];
|
||||
int pozycjaTraktoraX = 1, pozycjaTraktoraY = 1;
|
||||
char currentWay = 'S';
|
||||
|
||||
void color(string foregroundColor, string backgroundColor)
|
||||
{
|
||||
HANDLE hOut;
|
||||
hOut = GetStdHandle(STD_OUTPUT_HANDLE);
|
||||
int foregroundCode = 15;
|
||||
if (foregroundColor == "black")
|
||||
foregroundCode = 0;
|
||||
if (foregroundColor == "dark_blue")
|
||||
foregroundCode = 1;
|
||||
if (foregroundColor == "green")
|
||||
foregroundCode = 2;
|
||||
if (foregroundColor == "cyan")
|
||||
foregroundCode = 3;
|
||||
if (foregroundColor == "dark_red")
|
||||
foregroundCode = 4;
|
||||
if (foregroundColor == "purple")
|
||||
foregroundCode = 5;
|
||||
if (foregroundColor == "dark_yellow")
|
||||
foregroundCode = 6;
|
||||
if (foregroundColor == "light_gray")
|
||||
foregroundCode = 7;
|
||||
if (foregroundColor == "gray")
|
||||
foregroundCode = 8;
|
||||
if (foregroundColor == "blue")
|
||||
foregroundCode = 9;
|
||||
if (foregroundColor == "lime")
|
||||
foregroundCode = 10;
|
||||
if (foregroundColor == "light_blue")
|
||||
foregroundCode = 11;
|
||||
if (foregroundColor == "red")
|
||||
foregroundCode = 12;
|
||||
if (foregroundColor == "magenta")
|
||||
foregroundCode = 13;
|
||||
if (foregroundColor == "yellow")
|
||||
foregroundCode = 14;
|
||||
if (foregroundColor == "white")
|
||||
foregroundCode = 15;
|
||||
|
||||
int backgroundCode = 0;
|
||||
if (backgroundColor == "black")
|
||||
backgroundCode = 0;
|
||||
if (backgroundColor == "dark_blue")
|
||||
backgroundCode = 1;
|
||||
if (backgroundColor == "green")
|
||||
backgroundCode = 2;
|
||||
if (backgroundColor == "cyan")
|
||||
backgroundCode = 3;
|
||||
if (backgroundColor == "dark_red")
|
||||
backgroundCode = 4;
|
||||
if (backgroundColor == "purple")
|
||||
backgroundCode = 5;
|
||||
if (backgroundColor == "dark_yellow")
|
||||
backgroundCode = 6;
|
||||
if (backgroundColor == "light_gray")
|
||||
backgroundCode = 7;
|
||||
if (backgroundColor == "gray")
|
||||
backgroundCode = 8;
|
||||
if (backgroundColor == "blue")
|
||||
backgroundCode = 9;
|
||||
if (backgroundColor == "lime")
|
||||
backgroundCode = 10;
|
||||
if (backgroundColor == "light_blue")
|
||||
backgroundCode = 11;
|
||||
if (backgroundColor == "red")
|
||||
backgroundCode = 12;
|
||||
if (backgroundColor == "magenta")
|
||||
backgroundCode = 13;
|
||||
if (backgroundColor == "yellow")
|
||||
backgroundCode = 14;
|
||||
if (backgroundColor == "white")
|
||||
backgroundCode = 15;
|
||||
SetConsoleTextAttribute(hOut, foregroundCode + backgroundCode * 16);
|
||||
}
|
||||
|
||||
void SetWindow(int Width, int Height)
|
||||
{
|
||||
_COORD coord;
|
||||
coord.X = Width;
|
||||
coord.Y = Height;
|
||||
|
||||
_SMALL_RECT Rect;
|
||||
Rect.Top = 0;
|
||||
Rect.Left = 0;
|
||||
Rect.Bottom = Height - 1;
|
||||
Rect.Right = Width - 1;
|
||||
|
||||
HANDLE Handle = GetStdHandle(STD_OUTPUT_HANDLE); // Get Handle
|
||||
SetConsoleScreenBufferSize(Handle, coord); // Set Buffer Size
|
||||
SetConsoleWindowInfo(Handle, TRUE, &Rect); // Set Window Size
|
||||
}
|
||||
|
||||
void updatePola()
|
||||
{
|
||||
system("cls");
|
||||
for (int i = 0; i < 27; i++)
|
||||
{
|
||||
for (int j = 0; j < 27; j++)
|
||||
{
|
||||
char item = pole[i][j][0];
|
||||
switch (item)
|
||||
{
|
||||
case 'B':
|
||||
{
|
||||
color("purple", "dark_yellow");
|
||||
}break;
|
||||
case 'Z':
|
||||
{
|
||||
color("cyan", "dark_yellow");
|
||||
}break;
|
||||
case 'T':
|
||||
{
|
||||
color("red", "dark_yellow");
|
||||
}break;
|
||||
case 'G':
|
||||
{
|
||||
color("lime", "dark_yellow");
|
||||
}break;
|
||||
case '.':
|
||||
{
|
||||
color("yellow", "dark_yellow");
|
||||
}break;
|
||||
case '#':
|
||||
{
|
||||
color("light_gray", "gray");
|
||||
}break;
|
||||
}
|
||||
cout << pole[i][j][0];
|
||||
|
||||
}
|
||||
cout << endl;
|
||||
color("white", "black");
|
||||
}
|
||||
}
|
||||
|
||||
void correctMovement(char wantedWay)
|
||||
{
|
||||
while (currentWay != wantedWay)
|
||||
{
|
||||
switch (currentWay)
|
||||
{
|
||||
case 'N':
|
||||
{
|
||||
if (wantedWay == 'S')
|
||||
currentWay = wantedWay;
|
||||
else
|
||||
currentWay = 'W';
|
||||
}break;
|
||||
case 'S':
|
||||
{
|
||||
if (wantedWay == 'N')
|
||||
currentWay = wantedWay;
|
||||
else
|
||||
currentWay = 'W';
|
||||
}break;
|
||||
case 'W':
|
||||
{
|
||||
if (wantedWay == 'E')
|
||||
currentWay = wantedWay;
|
||||
else
|
||||
currentWay = 'N';
|
||||
}break;
|
||||
case 'E':
|
||||
{
|
||||
if (wantedWay == 'W')
|
||||
currentWay = wantedWay;
|
||||
else
|
||||
currentWay = 'N';
|
||||
}break;
|
||||
}
|
||||
}
|
||||
}
|
||||
void Move(char kierunek)
|
||||
{
|
||||
switch (kierunek)
|
||||
{
|
||||
//góra-(w)
|
||||
case 'w':
|
||||
{
|
||||
if (pole[pozycjaTraktoraY - 1][pozycjaTraktoraX][0] != '#')
|
||||
{
|
||||
correctMovement('N');
|
||||
pole[pozycjaTraktoraY][pozycjaTraktoraX][0] = '.';
|
||||
pozycjaTraktoraY--;
|
||||
pole[pozycjaTraktoraY][pozycjaTraktoraX][0] = 'T';
|
||||
}
|
||||
updatePola();
|
||||
}break;
|
||||
//dół-(s)
|
||||
case 's':
|
||||
{
|
||||
if (pole[pozycjaTraktoraY + 1][pozycjaTraktoraX][0] != '#')
|
||||
{
|
||||
correctMovement('S');
|
||||
pole[pozycjaTraktoraY][pozycjaTraktoraX][0] = '.';
|
||||
pozycjaTraktoraY++;
|
||||
pole[pozycjaTraktoraY][pozycjaTraktoraX][0] = 'T';
|
||||
}
|
||||
updatePola();
|
||||
}break;
|
||||
//lewo-(a)
|
||||
case 'a':
|
||||
{
|
||||
if (pole[pozycjaTraktoraY][pozycjaTraktoraX - 1][0] != '#')
|
||||
{
|
||||
correctMovement('W');
|
||||
pole[pozycjaTraktoraY][pozycjaTraktoraX][0] = '.';
|
||||
pozycjaTraktoraX--;
|
||||
pole[pozycjaTraktoraY][pozycjaTraktoraX][0] = 'T';
|
||||
}
|
||||
updatePola();
|
||||
}break;
|
||||
//prawo-(d)
|
||||
case 'd':
|
||||
{
|
||||
if (pole[pozycjaTraktoraY][pozycjaTraktoraX + 1][0] != '#')
|
||||
{
|
||||
correctMovement('E');
|
||||
pole[pozycjaTraktoraY][pozycjaTraktoraX][0] = '.';
|
||||
pozycjaTraktoraX++;
|
||||
pole[pozycjaTraktoraY][pozycjaTraktoraX][0] = 'T';
|
||||
}
|
||||
updatePola();
|
||||
}break;
|
||||
}
|
||||
}
|
||||
|
||||
bool isValid(int x, int y)
|
||||
{
|
||||
if (pole[x][y][0] != '#')
|
||||
{
|
||||
return true;
|
||||
}
|
||||
return false;
|
||||
}
|
||||
bool isDestination(int x, int y,Pair dest)
|
||||
{
|
||||
if (dest.first == x && dest.second == y)
|
||||
{
|
||||
return true;
|
||||
}
|
||||
return false;
|
||||
}
|
||||
double calculateHValue(int x, int y, Pair dest)
|
||||
{
|
||||
return abs(x - dest.first) + abs(y - dest.second);
|
||||
}
|
||||
void tracePath(cell cellDetails[][COL], Pair dest)
|
||||
{
|
||||
//printf("\nThe Path is "); //----start info
|
||||
int row = dest.first;
|
||||
int col = dest.second;
|
||||
|
||||
stack<Pair> Path;
|
||||
|
||||
while (!(cellDetails[row][col].parent_i == row
|
||||
&& cellDetails[row][col].parent_j == col))
|
||||
{
|
||||
Path.push(make_pair(row, col));
|
||||
int temp_row = cellDetails[row][col].parent_i;
|
||||
int temp_col = cellDetails[row][col].parent_j;
|
||||
row = temp_row;
|
||||
col = temp_col;
|
||||
}
|
||||
|
||||
Path.push(make_pair(row, col));
|
||||
while (!Path.empty())
|
||||
{
|
||||
pair<int, int> p = Path.top();
|
||||
Path.pop();
|
||||
if (p.first > pozycjaTraktoraX)
|
||||
Move('d');
|
||||
if (p.first < pozycjaTraktoraX)
|
||||
Move('a');
|
||||
if (p.second > pozycjaTraktoraY)
|
||||
Move('s');
|
||||
if (p.second < pozycjaTraktoraY)
|
||||
Move('w');
|
||||
|
||||
//printf("-> (%d,%d) ", p.first, p.second); //---- informacja wierzchołku
|
||||
Sleep(1000);
|
||||
}
|
||||
|
||||
return;
|
||||
}
|
||||
void aStarSearch(int grid[][COL],Pair src, Pair dest)
|
||||
{
|
||||
bool closedList[ROW][COL];
|
||||
memset(closedList, false, sizeof(closedList));
|
||||
|
||||
cell cellDetails[ROW][COL];
|
||||
|
||||
int i, j;
|
||||
for (i = 0; i < ROW; i++)
|
||||
{
|
||||
for (j = 0; j < COL; j++)
|
||||
{
|
||||
cellDetails[i][j].f = maxFloat;
|
||||
cellDetails[i][j].g = maxFloat;
|
||||
cellDetails[i][j].h = maxFloat;
|
||||
cellDetails[i][j].parent_i = -1;
|
||||
cellDetails[i][j].parent_j = -1;
|
||||
}
|
||||
}
|
||||
i = src.first, j = src.second;
|
||||
cellDetails[i][j].f = 0.0;
|
||||
cellDetails[i][j].g = 0.0;
|
||||
cellDetails[i][j].h = 0.0;
|
||||
cellDetails[i][j].parent_i = i;
|
||||
cellDetails[i][j].parent_j = j;
|
||||
|
||||
set<pPair> openList;
|
||||
openList.insert(make_pair(0.0, make_pair(i, j)));
|
||||
bool foundDest = false;
|
||||
|
||||
while (!openList.empty())
|
||||
{
|
||||
pPair p = *openList.begin();
|
||||
openList.erase(openList.begin());
|
||||
i = p.second.first;
|
||||
j = p.second.second;
|
||||
closedList[i][j] = true;
|
||||
|
||||
double gNew, hNew, fNew;
|
||||
double waga = 1.0;
|
||||
waga = ((double)pole[j][i][1] - 48)*1.0;//----waga
|
||||
|
||||
//----------- 1st Successor (North) ------------
|
||||
if (isValid(i - 1, j) == true)
|
||||
{
|
||||
if (isDestination(i - 1, j, dest) == true)
|
||||
{
|
||||
cellDetails[i - 1][j].parent_i = i;
|
||||
cellDetails[i - 1][j].parent_j = j;
|
||||
//printf("The destination cell is found\n");
|
||||
tracePath(cellDetails, dest);
|
||||
foundDest = true;
|
||||
return;
|
||||
}
|
||||
else if (closedList[i - 1][j] == false)
|
||||
{
|
||||
gNew = cellDetails[i][j].g + waga;
|
||||
hNew = calculateHValue(i - 1, j, dest);
|
||||
fNew = gNew + hNew;
|
||||
|
||||
if (cellDetails[i - 1][j].f == maxFloat ||
|
||||
cellDetails[i - 1][j].f > fNew)
|
||||
{
|
||||
openList.insert(make_pair(fNew,
|
||||
make_pair(i - 1, j)));
|
||||
|
||||
|
||||
cellDetails[i - 1][j].f = fNew;
|
||||
cellDetails[i - 1][j].g = gNew;
|
||||
cellDetails[i - 1][j].h = hNew;
|
||||
cellDetails[i - 1][j].parent_i = i;
|
||||
cellDetails[i - 1][j].parent_j = j;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
//----------- 2nd Successor (South) ------------
|
||||
if (isValid(i + 1, j) == true)
|
||||
{
|
||||
if (isDestination(i + 1, j, dest) == true)
|
||||
{
|
||||
cellDetails[i + 1][j].parent_i = i;
|
||||
cellDetails[i + 1][j].parent_j = j;
|
||||
//printf("The destination cell is found\n");
|
||||
tracePath(cellDetails, dest);
|
||||
foundDest = true;
|
||||
return;
|
||||
}
|
||||
else if (closedList[i + 1][j] == false)
|
||||
{
|
||||
gNew = cellDetails[i][j].g + waga;
|
||||
hNew = calculateHValue(i + 1, j, dest);
|
||||
fNew = gNew + hNew;
|
||||
if (cellDetails[i + 1][j].f == maxFloat ||
|
||||
cellDetails[i + 1][j].f > fNew)
|
||||
{
|
||||
openList.insert(make_pair(fNew, make_pair(i + 1, j)));
|
||||
cellDetails[i + 1][j].f = fNew;
|
||||
cellDetails[i + 1][j].g = gNew;
|
||||
cellDetails[i + 1][j].h = hNew;
|
||||
cellDetails[i + 1][j].parent_i = i;
|
||||
cellDetails[i + 1][j].parent_j = j;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
//----------- 3rd Successor (East) ------------
|
||||
if (isValid(i, j + 1) == true)
|
||||
{
|
||||
if (isDestination(i, j + 1, dest) == true)
|
||||
{
|
||||
cellDetails[i][j + 1].parent_i = i;
|
||||
cellDetails[i][j + 1].parent_j = j;
|
||||
//printf("The destination cell is found\n");
|
||||
tracePath(cellDetails, dest);
|
||||
foundDest = true;
|
||||
return;
|
||||
}
|
||||
else if (closedList[i][j + 1] == false)
|
||||
{
|
||||
gNew = cellDetails[i][j].g + waga;
|
||||
hNew = calculateHValue(i, j + 1, dest);
|
||||
fNew = gNew + hNew;
|
||||
if (cellDetails[i][j + 1].f == maxFloat ||
|
||||
cellDetails[i][j + 1].f > fNew)
|
||||
{
|
||||
openList.insert(make_pair(fNew,
|
||||
make_pair(i, j + 1)));
|
||||
cellDetails[i][j + 1].f = fNew;
|
||||
cellDetails[i][j + 1].g = gNew;
|
||||
cellDetails[i][j + 1].h = hNew;
|
||||
cellDetails[i][j + 1].parent_i = i;
|
||||
cellDetails[i][j + 1].parent_j = j;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
//----------- 4th Successor (West) ------------
|
||||
if (isValid(i, j - 1) == true)
|
||||
{
|
||||
if (isDestination(i, j - 1, dest) == true)
|
||||
{
|
||||
cellDetails[i][j - 1].parent_i = i;
|
||||
cellDetails[i][j - 1].parent_j = j;
|
||||
//printf("The destination cell is found\n");
|
||||
tracePath(cellDetails, dest);
|
||||
foundDest = true;
|
||||
return;
|
||||
}
|
||||
else if (closedList[i][j - 1] == false)
|
||||
{
|
||||
gNew = cellDetails[i][j].g + waga;
|
||||
hNew = calculateHValue(i, j - 1, dest);
|
||||
fNew = gNew + hNew;
|
||||
if (cellDetails[i][j - 1].f == maxFloat ||
|
||||
cellDetails[i][j - 1].f > fNew)
|
||||
{
|
||||
openList.insert(make_pair(fNew,
|
||||
make_pair(i, j - 1)));
|
||||
cellDetails[i][j - 1].f = fNew;
|
||||
cellDetails[i][j - 1].g = gNew;
|
||||
cellDetails[i][j - 1].h = hNew;
|
||||
cellDetails[i][j - 1].parent_i = i;
|
||||
cellDetails[i][j - 1].parent_j = j;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/*if (foundDest == false)
|
||||
printf("Failed to find the Destination Cell\n");*/
|
||||
|
||||
return;
|
||||
}
|
||||
|
||||
void gogo(int endX,int endY)
|
||||
{
|
||||
updatePola();
|
||||
Sleep(1000);
|
||||
int grid[27][27];
|
||||
for (int i = 0; i < 27; i++)
|
||||
{
|
||||
for (int j = 0; j < 27; j++)
|
||||
{
|
||||
grid[i][j] = 0;
|
||||
}
|
||||
}
|
||||
Pair src = make_pair(pozycjaTraktoraX, pozycjaTraktoraY);
|
||||
Pair dest = make_pair(endX, endY);
|
||||
aStarSearch(grid, src, dest);
|
||||
}
|
||||
|
||||
void test1()
|
||||
{
|
||||
pole[1][3][0] = 'B';
|
||||
pole[1][3][1] = '9';
|
||||
pole[3][1][0] = 'Z';
|
||||
pole[3][1][1] = '9';
|
||||
}
|
||||
void test2()
|
||||
{
|
||||
for (int i = 1; i < 26; i++)
|
||||
{
|
||||
for (int j = 1; j < i; j++)
|
||||
{
|
||||
pole[i][j][0] = 'B';
|
||||
pole[i][j][1] = '9';
|
||||
}
|
||||
}
|
||||
test1();
|
||||
updatePola();
|
||||
}
|
||||
|
||||
void testSI1()
|
||||
{
|
||||
for (int i = 1; i < 26; i++)
|
||||
{
|
||||
for (int j = 1; j < 26; j++)
|
||||
{
|
||||
if (j % 3 == 0)
|
||||
{
|
||||
pole[i][j][2] = 'z'; //zyzne
|
||||
pole[i][j][3] = 'n'; //nawodnione
|
||||
pole[i][j][4] = 'c'; //w cieniu
|
||||
pole[i][j][5] = 'k'; //kwasne
|
||||
}
|
||||
else
|
||||
{
|
||||
if (j % 3 == 1)
|
||||
{
|
||||
pole[i][j][2] = 'j'; //jalowe
|
||||
pole[i][j][3] = 'n'; //nawodnione
|
||||
pole[i][j][4] = 's'; //w sloncu
|
||||
pole[i][j][5] = 'n'; //neutralne
|
||||
}
|
||||
else
|
||||
{
|
||||
pole[i][j][2] = 'z'; //zyzne
|
||||
pole[i][j][3] = 's'; //suche
|
||||
pole[i][j][4] = 's'; //sloneczne
|
||||
pole[i][j][5] = 'z'; //zasadowe
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void sendState()
|
||||
{
|
||||
ofstream write("dane.txt");
|
||||
for (int i = 1; i < 26; i++)
|
||||
{
|
||||
for (int j = 1; j < 26; j++)
|
||||
{
|
||||
string a;
|
||||
a += pole[i][j][2];
|
||||
a += ' ';
|
||||
a += pole[i][j][3];
|
||||
a += ' ';
|
||||
a += pole[i][j][4];
|
||||
a += ' ';
|
||||
a += pole[i][j][5];
|
||||
write << a << endl;
|
||||
}
|
||||
}
|
||||
write.close();
|
||||
}
|
||||
void reciveState()
|
||||
{
|
||||
ifstream read("decyzje.txt");
|
||||
if (read.is_open())
|
||||
{
|
||||
char plant;
|
||||
int i = 1;
|
||||
int j = 1;
|
||||
while (read >> plant)
|
||||
{
|
||||
if (j == 25)
|
||||
{
|
||||
gogo(1, i+1);
|
||||
}
|
||||
else
|
||||
{
|
||||
gogo(j+1 , i );
|
||||
}
|
||||
pole[i][j][0] = plant;
|
||||
if (plant == '.')
|
||||
{
|
||||
pole[i][j][1] = '1';
|
||||
}
|
||||
else
|
||||
{
|
||||
pole[i][j][1] = '9';
|
||||
}
|
||||
if (j == 25)
|
||||
{
|
||||
j = 1;
|
||||
i += 1;
|
||||
}
|
||||
else
|
||||
{
|
||||
j += 1;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void start1()
|
||||
{
|
||||
int goalX = 3, goalY = 4;
|
||||
test1();
|
||||
testSI1();
|
||||
pole[1][1][0] = 'T';
|
||||
pole[1][1][1] = '1';
|
||||
pole[goalY][goalX][0] = 'G';
|
||||
pole[goalY][goalX][1] = '9';
|
||||
gogo(goalX, goalY);
|
||||
gogo(goalX - 1, goalY);
|
||||
pole[goalY][goalX][0] = 'Z';
|
||||
pole[goalY][goalX][1] = '9';
|
||||
updatePola();
|
||||
//sendState(); //trzeba ręcznie zmieniać między wysyłaniem stanu a pobieraniem stanu pola
|
||||
reciveState();
|
||||
}
|
||||
void start2()
|
||||
{
|
||||
int goalX = 6, goalY = 6;
|
||||
test2();
|
||||
pole[1][1][0] = 'T';
|
||||
pole[1][1][1] = '1';
|
||||
pole[goalY][goalX][0] = 'G';
|
||||
pole[goalY][goalX][1] = '9';
|
||||
gogo(goalX, goalY);
|
||||
}
|
||||
void start3()
|
||||
{
|
||||
int goalX = 6, goalY = 9;
|
||||
test2();
|
||||
pole[1][1][0] = 'T';
|
||||
pole[1][1][1] = '1';
|
||||
pole[goalY][goalX][0] = 'G';
|
||||
pole[goalY][goalX][1] = '9';
|
||||
gogo(goalX, goalY);
|
||||
}
|
||||
|
||||
int main()
|
||||
{
|
||||
SetWindow(50, 30);
|
||||
//create pola//
|
||||
for (int i = 0; i < 27; i++)
|
||||
{
|
||||
pole[i][0][0] = '#';
|
||||
pole[0][i][0] = '#';
|
||||
pole[26][i][0] = '#';
|
||||
pole[i][26][0] = '#';
|
||||
pole[i][0][1] = '9';
|
||||
pole[0][i][1] = '9';
|
||||
pole[26][i][1] = '9';
|
||||
pole[i][26][1] = '9';
|
||||
}
|
||||
for (int i = 1; i < 26; i++)
|
||||
{
|
||||
for (int j = 1; j < 26; j++)
|
||||
{
|
||||
pole[i][j][0] = '.';
|
||||
pole[i][j][1] = '1';
|
||||
}
|
||||
}
|
||||
|
||||
for (int i = 0; i < 25; i++)
|
||||
{
|
||||
pole[i + 1][i + 1][0] = 'B';
|
||||
pole[i + 1][i + 1][1] = '9';
|
||||
}
|
||||
|
||||
updatePola();
|
||||
|
||||
start1(); // testy start 1-3
|
||||
|
||||
//---------start---------//
|
||||
bool traktorDziala = true;
|
||||
|
||||
char akcja;
|
||||
|
||||
do
|
||||
{
|
||||
akcja = _getch();
|
||||
if (akcja == 'w' || akcja == 's' || akcja == 'a' || akcja == 'd')
|
||||
{
|
||||
Move(akcja);
|
||||
}
|
||||
if (akcja == '0')
|
||||
{
|
||||
traktorDziala = false;
|
||||
}
|
||||
} while (traktorDziala);
|
||||
//---------end---------//
|
||||
|
||||
return 0;
|
||||
}
|
||||
File diff suppressed because it is too large
Load Diff
BIN
decisionTree.sav
BIN
decisionTree.sav
Binary file not shown.
@ -8,7 +8,7 @@ którym będzie poruszał się agent.
|
||||
W skład zespołu wchodzą:
|
||||
Tomasz Dzierzbicki,
|
||||
Szymon Parafiński,
|
||||
Laura Piotrowska,
|
||||
Karol Piotrowski,
|
||||
Jarosław Zbąski.
|
||||
|
||||
# Temat projektu i wybrane rozwiązanie
|
||||
|
||||
@ -1,52 +0,0 @@
|
||||
# Szymon Parafiński
|
||||
implementacja drzew decyzyjnych z nauczonego pliku
|
||||
|
||||
|
||||
|
||||
implementacja funkcji która decyduje co zrobić z obecnym polem
|
||||
|
||||
|
||||
|
||||
Funkcja jest zastosowana podczas osiągniecia celu ruchu
|
||||
|
||||
|
||||
# Tomasz Dzierzbicki
|
||||
implementacja sieci neuronowych z nauczonego pliku
|
||||
|
||||
|
||||
|
||||
implementacja funkcji która szuka nalepszego pola do zastosowania na nim działań
|
||||
|
||||
|
||||
|
||||
Funkcja jest używana w nieskończoność po uruchomieniu programu
|
||||
|
||||
|
||||
|
||||
# Jarosław Zbąski
|
||||
implementacja drzew decyzyjnych z nauczonego pliku
|
||||
|
||||
|
||||
|
||||
implementacja funkcji która decyduje co posadzić
|
||||
|
||||
|
||||
|
||||
Funkcja jest zastosowana po zebraniu na tym samym polu
|
||||
|
||||
|
||||
|
||||
# Laura Piotrowska
|
||||
implementacja algorytmu genetycznego
|
||||
|
||||
|
||||
|
||||
Zaimplementowane zostało zbieranie warzyw, a algorytm przygotowuje porcję nowych roślin do zasadzenia
|
||||
|
||||
Algorytm jest wywoływany co ustaloną liczbę zebranych buraków lub ziemniaków
|
||||
|
||||
|
||||
|
||||
Implementacja zbierania
|
||||
|
||||
|
||||
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|
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BIN
images/cross.png
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images/cross.png
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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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BIN
initial.txt
BIN
initial.txt
Binary file not shown.
@ -1,33 +0,0 @@
|
||||
import pickle
|
||||
import sys
|
||||
|
||||
|
||||
def prediction(warzywo, nawoz ,srodek, stan_wzrostu):
|
||||
filename = 'decisionTree.sav'
|
||||
tree = pickle.load(open(filename, 'rb'))
|
||||
val = (tree.predict([[warzywo, nawoz, srodek, stan_wzrostu]]))
|
||||
save(val)
|
||||
|
||||
def save(prediction):
|
||||
pred = str(prediction)
|
||||
plik = open('dec.txt', 'w')
|
||||
plik.write(pred[1])
|
||||
plik.close()
|
||||
|
||||
def decision(prediction):
|
||||
if prediction == 0:
|
||||
return "Nie_podejmuj_dzialania"
|
||||
elif prediction == 1:
|
||||
return "Zastosuj_nawoz"
|
||||
elif prediction == 2:
|
||||
return "Zastosuj_srodek"
|
||||
elif prediction == 4:
|
||||
return "Zbierz"
|
||||
elif prediction == 5:
|
||||
return "Roslina_juz_zgnila__zbierz_i_wyrzuc"
|
||||
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
# Map command line arguments to function arguments.
|
||||
prediction(*sys.argv[1:])
|
||||
625
matrix.txt
625
matrix.txt
@ -1,625 +0,0 @@
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
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|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
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0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
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0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
0.15760229181 2.67552455e-9 0.00126219853 0.21969625454
|
||||
@ -5,7 +5,7 @@ Ten dokument to raport z wykonanego drugiego zadania projektu zespołowego na pr
|
||||
W skład zespołu wchodzą:
|
||||
Tomasz Dzierzbicki,
|
||||
Szymon Parafiński,
|
||||
Laura Piotrowska,
|
||||
Karol Piotrowski,
|
||||
Jarosław Zbąski.
|
||||
|
||||
# Zasady poruszania się agenta po planszy
|
||||
|
||||
Loading…
Reference in New Issue
Block a user