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movement_planning #2

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s473585 merged 13 commits from movement_planning into master 2023-05-24 14:28:17 +02:00
Conversation 0 Commits 13 Files Changed 13 +24 -10
2 changed files with 24 additions and 10 deletions
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Showing only changes of commit 21bcecd101 - Show all commits

3
heuristicfn.py
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@ -1,2 +1,3 @@
def heuristicfn(startx, starty, goalx, goaly): def heuristicfn(startx, starty, goalx, goaly):
return pow(((startx//50)-(starty//50)),2) + pow(((goalx//50)-(goaly//50)),2) return abs(startx - goalx) + abs(starty - goaly)
# return pow(((startx//50)-(starty//50)),2) + pow(((goalx//50)-(goaly//50)),2)

31
main.py
View File

@ -24,6 +24,7 @@ FPS = 10
FIELDCOUNT = 16 FIELDCOUNT = 16
FIELDWIDTH = 50 FIELDWIDTH = 50
class Agent: class Agent:
def __init__(self, rect, direction): def __init__(self, rect, direction):
self.rect = rect self.rect = rect
@ -42,10 +43,10 @@ def randomize_map(): # tworzenie mapy z losowymi polami
temp_priority.append(1) temp_priority.append(1)
else: else:
prob = random.uniform(0, 100) prob = random.uniform(0, 100)
if 0 <= prob <= 10: if 0 <= prob <= 12:
field_array_2.append(COBBLE) field_array_2.append(COBBLE)
temp_priority.append(3) temp_priority.append(3)
elif 10 < prob <= 20: elif 12 < prob <= 24:
field_array_2.append(SAND) field_array_2.append(SAND)
temp_priority.append(2) temp_priority.append(2)
else: else:
@ -57,37 +58,49 @@ def randomize_map(): # tworzenie mapy z losowymi polami
return field_array_1, field_priority return field_array_1, field_priority
def draw_window(agent, fields): def draw_window(agent, fields, flip):
if flip:
direction = pygame.transform.flip(AGENT, True, False)
else:
direction = pygame.transform.flip(AGENT, False, False)
for i in range(16): for i in range(16):
for j in range(16): for j in range(16):
window.blit(fields[i][j], (i * 50, j * 50)) window.blit(fields[i][j], (i * 50, j * 50))
window.blit(AGENT, (agent.rect.x, agent.rect.y)) # wyswietlanie agenta window.blit(direction, (agent.rect.x, agent.rect.y)) # wyswietlanie agenta
pygame.display.update() pygame.display.update()
def main(): def main():
clock = pygame.time.Clock() clock = pygame.time.Clock()
run = True run = True
agent = GarbageTruck(0, 0, pygame.Rect(0, 0, 50, 50), 0) # tworzenie pola dla agenta x, y = [0, 0]
agent = GarbageTruck(0, 0, pygame.Rect(x, y, 50, 50), 0) # tworzenie pola dla agenta
fields, priority_array = randomize_map() fields, priority_array = randomize_map()
print(priority_array) print(priority_array)
print(priority_array[4][8]) final_x, final_y = [100, 300]
while run: while run:
clock.tick(FPS) clock.tick(FPS)
for event in pygame.event.get(): for event in pygame.event.get():
if event.type == pygame.QUIT: if event.type == pygame.QUIT:
run = False run = False
# keys_pressed = pygame.key.get_pressed() # keys_pressed = pygame.key.get_pressed()
draw_window(agent, fields) draw_window(agent, fields, False) # false = kierunek east (domyslny), true = west
steps = astar(State(None, None, 0, 0, 'E', priority_array[0][0], heuristicfn(0,0,300,100)), 300, 100, priority_array) steps = astar(State(None, None, x, y, 'E', priority_array[0][0], heuristicfn(x, y, final_x, final_y)), final_x, final_y, priority_array)
for interm in steps: for interm in steps:
if interm.action == 'LEFT': if interm.action == 'LEFT':
agent.turn_left() agent.turn_left()
draw_window(agent, fields, True)
elif interm.action == 'RIGHT': elif interm.action == 'RIGHT':
agent.turn_right() agent.turn_right()
draw_window(agent, fields, False)
elif interm.action == 'FORWARD': elif interm.action == 'FORWARD':
agent.forward() agent.forward()
draw_window(agent, fields) if agent.orientation == 0:
draw_window(agent, fields, False)
elif agent.orientation == 2:
draw_window(agent, fields, True)
else:
draw_window(agent, fields, False)
time.sleep(0.5) time.sleep(0.5)
while True: while True: