32 lines
2.4 KiB
Python
32 lines
2.4 KiB
Python
from state import State
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from heuristicfn import heuristicfn
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FIELDWIDTH, FIELDCOUNT = 50, 16
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def succ(st: State, passedPriorities, goalx, goaly):
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successors = []
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if st.orientation == 3:
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successors.append(State(st, 'LEFT', st.xpos, st.ypos, 2, passedPriorities[st.xpos//50][st.ypos//50], heuristicfn(st.xpos, st.ypos, goalx, goaly)))
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successors.append(State(st, 'RIGHT', st.xpos, st.ypos, 0, passedPriorities[st.xpos//50][st.ypos//50], heuristicfn(st.xpos, st.ypos, goalx, goaly)))
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if st.ypos > 0:
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successors.append(State(st, 'FORWARD', st.xpos, st.ypos - FIELDWIDTH , 3, passedPriorities[st.xpos//50][st.ypos//50 - 1], heuristicfn(st.xpos, st.ypos - 50, goalx, goaly)))
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if st.orientation == 1:
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successors.append(State(st, 'LEFT', st.xpos, st.ypos, 0, passedPriorities[st.xpos//50][st.ypos//50], heuristicfn(st.xpos, st.ypos, goalx, goaly)))
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successors.append(State(st,'RIGHT', st.xpos, st.ypos, 2, passedPriorities[st.xpos//50][st.ypos//50], heuristicfn(st.xpos, st.ypos, goalx, goaly)))
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if st.ypos < FIELDWIDTH * (FIELDCOUNT - 1):
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successors.append(State(st, 'FORWARD', st.xpos, st.ypos + FIELDWIDTH , 1, passedPriorities[st.xpos//50][st.ypos//50 + 1], heuristicfn(st.xpos, st.ypos + 50, goalx, goaly)))
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if st.orientation == 2:
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successors.append(State(st, 'LEFT', st.xpos, st.ypos, 1, passedPriorities[st.xpos//50][st.ypos//50], heuristicfn(st.xpos, st.ypos, goalx, goaly)))
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successors.append(State(st,'RIGHT', st.xpos, st.ypos, 3, passedPriorities[st.xpos//50][st.ypos//50], heuristicfn(st.xpos, st.ypos, goalx, goaly)))
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if st.xpos > 0:
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successors.append(State(st, 'FORWARD', st.xpos - FIELDWIDTH , st.ypos, 2, passedPriorities[st.xpos//50 - 1][st.ypos//50], heuristicfn(st.xpos - 50, st.ypos, goalx, goaly)))
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if st.orientation == 0:
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successors.append(State(st, 'LEFT', st.xpos, st.ypos, 3, passedPriorities[st.xpos//50][st.ypos//50], heuristicfn(st.xpos, st.ypos, goalx, goaly)))
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successors.append(State(st, 'RIGHT', st.xpos, st.ypos, 1, passedPriorities[st.xpos//50][st.ypos//50], heuristicfn(st.xpos, st.ypos, goalx, goaly)))
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if st.xpos < FIELDWIDTH * (FIELDCOUNT - 1):
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successors.append(State(st, 'FORWARD', st.xpos + FIELDWIDTH , st.ypos, 0, passedPriorities[st.xpos//50 + 1][st.ypos//50], heuristicfn(st.xpos + 50, st.ypos, goalx, goaly)))
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return successors
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