inteligentny-traktor/bfs.py

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import cart
import copy
class Istate:
def __init__(self, direction, x, y):
self.direction = direction
self.x = x
self.y = y
def get_direction(self):
return self.direction
def set_direction(self, direction):
self.direction = direction
def get_x(self):
return self.x
def set_x(self, x):
self.x = x
def get_y(self):
return self.y
def set_y(self, y):
self.y = y
class Node:
def __init__(self, action, direction, parent, x, y):
self.action = action
self.direction = direction
self.parent = parent
self.x = x
self.y = y
def get_action(self):
return self.action
def set_action(self, action):
self.action = action
def get_direction(self):
return self.direction
def set_direction(self, direction):
self.direction = direction
def get_parent(self):
return self.parent
def set_parent(self, parent):
self.parent = parent
def get_x(self):
return self.x
def set_x(self, x):
self.x = x
def get_y(self):
return self.y
def set_y(self, y):
self.y = y
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def goal_test(goaltest, elem):
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if elem.get_x() == goaltest[0] and elem.get_y() == goaltest[1]:
return True
else:
return False
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def graphsearch(goaltest, istate): # przeszukiwanie grafu wszerz
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node = Node(None, istate.get_direction(), None, istate.get_x(), istate.get_y())
fringe = []
explored = []
fringe.append(node) # wierzchołki do odwiedzenia
while True:
if not fringe:
return False
elem = fringe.pop(0) # zdejmujemy wierzchołek z kolejki fringe i rozpatrujemy go
temp = copy.copy(elem)
if goal_test(goaltest,
elem) is True: # jeżeli osiągniemy cel w trakcie przeszukiwania grafu wsszerz, zwracamy listę ruchów, po których wykonaniu dotrzemy na miejsce
return print_moves(elem)
explored.append(elem) # dodajemy wierzchołek do listy wierzchołków odwiedzonych
for action, state in succ(temp): # iterujemy po wszystkich możliwych akcjach i stanach otrzymanych dla danego wierzchołka grafu
fringe_tuple = []
explored_tuple = []
for x in fringe:
fringe_tuple.append((x.get_direction(), x.get_x(), x.get_y()))
for x in explored:
explored_tuple.append((x.get_direction(), x.get_x(), x.get_y()))
if state not in fringe_tuple and state not in explored_tuple: # jeżeli stan nie znajduje się na fringe oraz nie znajduje się w liście wierzchołków odwiedzonych
x = Node(action, state[0], elem, state[1], state[2]) # stworzenie nowego wierzchołka, którego rodzicem jest elem
fringe.append(x) # dodanie wierzchołka na fringe
def print_moves(elem):
moves_list = []
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while elem.get_parent() is not None:
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moves_list.append(elem.get_action())
elem = elem.get_parent()
moves_list.reverse()
return moves_list
def succ(elem):
actions_list = []
temp = copy.copy(elem.get_direction())
if temp == 1:
temp = 4
else:
temp = temp - 1
actions_list.append(("rotate_right", (temp, elem.get_x(), elem.get_y())))
temp = copy.copy(elem.get_direction())
if temp == 4:
temp = 1
else:
temp = temp + 1
actions_list.append(("rotate_left", (temp, elem.get_x(), elem.get_y())))
temp_move_south = elem.get_y() - 1
temp_move_west = elem.get_x() - 1
temp_move_east = elem.get_x() + 1
temp_move_north = elem.get_y() + 1
if cart.Cart.is_move_allowed_succ(elem) == "x + 1":
actions_list.append(("move", (elem.get_direction(), temp_move_east, elem.get_y())))
elif cart.Cart.is_move_allowed_succ(elem) == "y + 1":
actions_list.append(("move", (elem.get_direction(), elem.get_x(), temp_move_north)))
elif cart.Cart.is_move_allowed_succ(elem) == "y - 1":
actions_list.append(("move", (elem.get_direction(), elem.get_x(), temp_move_south)))
elif cart.Cart.is_move_allowed_succ(elem) == "x - 1":
actions_list.append(("move", (elem.get_direction(), temp_move_west, elem.get_y())))
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return actions_list