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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 +4 -3
2 changed files with 4 additions and 3 deletions
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5
bfs.py
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@ -14,8 +14,9 @@ def bfs(istate, goalx, goaly):
return steps return steps
element = successors(state) element = successors(state)
explored.append(state) explored.append((state.xpos, state.ypos, state.orientation))
for value in element : for value in element :
if value not in explored and value not in fringe: val = (value.xpos, value.ypos, value.orientation)
if val not in explored:
fringe.append(value) fringe.append(value)
return False return False

2
main.py
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@ -68,7 +68,7 @@ def main():
run = False run = False
#keys_pressed = pygame.key.get_pressed() #keys_pressed = pygame.key.get_pressed()
draw_window(agent, fields) draw_window(agent, fields)
steps = bfs(State(None, None, 0, 0, 'E'), 250, 100) steps = bfs(State(None, None, 0, 0, 'E'), 250, 700)
for interm in steps: for interm in steps:
if interm.action == 'LEFT': if interm.action == 'LEFT':
agent.direction = (agent.direction - 1) % 4 agent.direction = (agent.direction - 1) % 4