Dodanie 'node.py'

This commit is contained in:
Cezary Adamczak 2021-05-23 23:10:19 +02:00
parent 945fa14718
commit b9370cb6f9

169
node.py Normal file
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from dimensions import *
import heapq
def getTotalCost(x):
return x.totalCost
def showPath(node, goal):
path = node.findPath(goal)
for x in path:
print(x.position, end=" ")
print(x.rotation, end=" ")
print(x.action)
print("***")
def succesor (node):
succesors = []
if node.position[0]+node.rotation[0] in range(0,GSIZE) and node.position[1]+node.rotation[1] in range(0,GSIZE):
child = Node(node.field, [node.position[0]+node.rotation[0], node.position[1]+node.rotation[1]], node.rotation)
child.action = "move"
succesors.append(child)
if node.rotation == [1,0]:
child = Node(node.field, node.position, [0,-1])
child.action = "left"
succesors.append(child)
child = Node(node.field, node.position, [0,1])
child.action = "right"
succesors.append(child)
if node.rotation == [0,1]:
child = Node(node.field, node.position, [-1, 0])
succesors.append(child)
child.action = "right"
child = Node(node.field, node.position, [1, 0])
child.action = "left"
succesors.append(child)
if node.rotation == [-1,0]:
child = Node(node.field, node.position, [0,-1])
succesors.append(child)
child.action = "right"
child = Node(node.field, node.position, [0,1])
child.action = "left"
succesors.append(child)
if node.rotation == [0,-1]:
child = Node(node.field, node.position, [-1, 0])
child.action = "left"
succesors.append(child)
child = Node(node.field, node.position, [1, 0])
child.action = "right"
succesors.append(child)
return succesors
class Node():
def __init__(self, field, position, rotation):
self.parent = 0
self.startCost = 0
self.heuristic = 0
self.totalCost = 0
self.position = position
self.rotation = rotation
self.action = 0
self.field = field
def __lt__(self, other):
return self.totalCost < other.totalCost
def findPath(self, goal):
startNode = Node(self.field, self.position, self.rotation)
goalNode = goal
openList = []
closedList = []
startNode.parent = None
openList.append(startNode)
while len(openList) > 0:
openList.sort(key=getTotalCost)
currentNode = openList.pop(0)
closedList.append(currentNode)
if currentNode.position == goalNode:
path = []
current = currentNode
while current is not None:
path.append(current)
current = current.parent
return path[::-1]
children = succesor(currentNode)
perm = 0
for child in children:
for closedChild in closedList:
if child.position == closedChild.position and child.rotation == closedChild.rotation and child.action == closedChild.action:
perm = 1
break
if perm == 1:
perm = 0
continue
child.parent = currentNode
child.startCost = currentNode.startCost + child.field[child.position[0]][child.position[1]].moveCost
child.heuristic = abs(goal[0]-child.position[0]) + abs(goal[1]-child.position[1])
child.totalCost = child.startCost+child.heuristic
for openNode in openList:
if child.position == openNode.position and child.rotation == openNode.rotation and child.action == openNode.action and child.startCost > openNode.startCost:
perm = 1
break
if perm == 1:
perm = 0
continue
openList.append(child)
def findPathToPlant(self):
startNode = Node(self.field, self.position, self.rotation)
openList = []
closedList = []
startNode.parent = None
heapq.heappush(openList, startNode)
while len(openList) > 0:
currentNode = heapq.heappop(openList)
closedList.append(currentNode)
if currentNode.field[currentNode.position[0]][currentNode.position[1]].planted and currentNode.field[currentNode.position[0]][currentNode.position[1]].hydration < 2:
path = []
for _ in range(currentNode.field[currentNode.position[0]][currentNode.position[1]].hydration, 4):
path.append("hydrate")
current = currentNode
while current is not None:
path.append(current.action)
current = current.parent
return path[::-1]
children = succesor(currentNode)
perm = 0
for child in children:
for closedChild in closedList:
if child.position == closedChild.position and child.rotation == closedChild.rotation and child.action == closedChild.action:
perm = 1
break
if perm == 1:
perm = 0
continue
child.parent = currentNode
child.startCost = currentNode.startCost + child.field[child.position[0]][child.position[1]].moveCost
child.heuristic = abs(startNode.position[0]-child.position[0]) + abs(startNode.position[1]-child.position[1])
child.totalCost = child.startCost+child.heuristic
for openNode in openList:
if child.position == openNode.position and child.rotation == openNode.rotation and child.action == openNode.action and child.startCost >= openNode.startCost:
perm = 1
break
if perm == 1:
perm = 0
continue
heapq.heappush(openList, child)