114 lines
3.8 KiB
Python
114 lines
3.8 KiB
Python
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# FRINGE - struktura danych przechowująca wierzchołki do odwiedzenia
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# EXPLORED - lista odwiedzonych stanów
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# istate - stan początkowy
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# Succ - funkcja następnika
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# Goaltest -test spełnienia celu
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def breadth_first_search(istate, goal, agent_direction): # COORDINATES OF A START PLACE
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fringe = []
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explored = []
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start = Node(istate, agent_direction)
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fringe.append(start)
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path = []
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while True:
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if not fringe:
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return False
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elem = fringe.pop(0)
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if elem.state == goal:
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# return ciag akcji zbudowany z wykorzystaniem pol parent i action
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while elem.parent is not None:
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if type(elem.action) == list:
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elem.action.reverse()
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for each_action in elem.action:
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path.append(each_action)
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else:
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path.append(elem.action)
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elem = elem.parent
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path.reverse()
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return path
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explored.append(elem)
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for action, state, direction in elem.successor():
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fringe_states = []
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explored_states = []
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for node in fringe:
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fringe_states.append(node.state)
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for node2 in explored:
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explored_states.append(node2.state)
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if state not in fringe_states and state not in explored_states:
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x = Node(state, direction)
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x.parent = elem
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x.action = action
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fringe.append(x)
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class Node:
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def __init__(self, state, agent_direction, action=None, parent=None):
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self.state = state
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self.action = action
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self.parent = parent
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self.agent_direction = agent_direction
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def successor(self):
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neighbours = []
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x = self.state[0]
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y = self.state[1]
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if x < 8: # RIGHT NEIGHBOUR
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if self.agent_direction == "right":
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actions = "move"
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elif self.agent_direction == "left":
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actions = ["rotate_right", "rotate_right", "move"]
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elif self.agent_direction == "up":
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actions = ["rotate_right", "move"]
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elif self.agent_direction == "down":
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actions = ["rotate_left", "move"]
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neighbours.append((actions, (x + 1, y), "right"))
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if x > 0: # LEFT NEIGHBOUR
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if self.agent_direction == "right":
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actions = ["rotate_left", "rotate_left", "move"]
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elif self.agent_direction == "left":
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actions = "move"
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elif self.agent_direction == "up":
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actions = ["rotate_left", "move"]
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elif self.agent_direction == "down":
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actions = ["rotate_right", "move"]
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neighbours.append((actions, (x - 1, y), "left"))
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if y > 0: # UP NEIGHBOUR
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if self.agent_direction == "right":
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actions = ["rotate_left", "move"]
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elif self.agent_direction == "left":
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actions = ["rotate_right", "move"]
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elif self.agent_direction == "up":
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actions = "move"
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elif self.agent_direction == "down":
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actions = ["rotate_left", "rotate_left", "move"]
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neighbours.append((actions, (x, y - 1), "up"))
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if y < 8: # DOWN NEIGHBOUR
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if self.agent_direction == "right":
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actions = ["rotate_right", "move"]
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elif self.agent_direction == "left":
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actions = ["rotate_left", "move"]
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elif self.agent_direction == "up":
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actions = ["rotate_left", "rotate_left", "move"]
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elif self.agent_direction == "down":
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actions = "move"
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neighbours.append((actions, (x, y + 1), "down"))
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return neighbours
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