175 lines
6.2 KiB
Python
175 lines
6.2 KiB
Python
class Node:
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def __init__(self):
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self.state = State()
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self.parent = None
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self.action = ""
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class State:
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def __init__(self):
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self.coord = []
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self.direction = ""
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def successor(state):
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node_state_left = Node()
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node_state_right = Node()
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node_state_forward = Node()
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if state.direction == "east":
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node_state_left.state = State()
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node_state_left.state.coord = state.coord
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node_state_left.state.direction = "north"
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#node_state_left.parent = state
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node_state_left.action = "Left"
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node_state_right.state = State()
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node_state_right.state.coord = state.coord
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node_state_right.state.direction = "south"
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#node_state_right.parent = state
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node_state_right.action = "Right"
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node_state_forward.state = State()
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node_state_forward.state.coord = [state.coord[0] + 53, state.coord[1]]
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node_state_forward.state.direction = state.direction
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#node_state_forward.parent = state
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node_state_forward.action = "Up"
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#return [node_state_left, node_state_right, node_state_forward]
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elif state.direction == "west":
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node_state_left.state = State()
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node_state_left.state.coord = state.coord
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node_state_left.state.direction = "south"
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#node_state_left.parent = state
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node_state_left.action = "Left"
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node_state_right.state = State()
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node_state_right.state.coord = state.coord
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node_state_right.state.direction = "north"
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#node_state_right.parent = state
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node_state_right.action = "Right"
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node_state_forward.state = State()
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node_state_forward.state.coord = [state.coord[0] - 53, state.coord[1]]
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node_state_forward.state.direction = state.direction
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#node_state_forward.parent = state
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node_state_forward.action = "Up"
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#return [node_state_left, node_state_right, node_state_forward]
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elif state.direction == "north":
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node_state_left.state = State()
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node_state_left.state.coord = state.coord
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node_state_left.state.direction = "west"
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#node_state_left.parent = state
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node_state_left.action = "Left"
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node_state_right.state = State()
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node_state_right.state.coord = state.coord
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node_state_right.state.direction = "east"
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#node_state_right.parent = state
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node_state_right.action = "Right"
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node_state_forward.state = State()
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node_state_forward.state.coord = [state.coord[0], state.coord[1] - 53]
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node_state_forward.state.direction = state.direction
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#node_state_forward.parent = state
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node_state_forward.action = "Up"
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#return [node_state_left, node_state_right, node_state_forward]
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elif state.direction == "south":
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node_state_left.state = State()
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node_state_left.state.coord = state.coord
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node_state_left.state.direction = "east"
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#node_state_left.parent = state
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node_state_left.action = "Left"
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node_state_right.state = State()
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node_state_right.state.coord = state.coord
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node_state_right.state.direction = "west"
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#node_state_right.parent = state
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node_state_right.action = "Right"
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node_state_forward.state = State()
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node_state_forward.state.coord = [state.coord[0], state.coord[1] + 53]
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node_state_forward.state.direction = state.direction
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#node_state_forward.parent = state
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node_state_forward.action = "Up"
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#return [node_state_left, node_state_right, node_state_forward]
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return [node_state_left, node_state_right, node_state_forward]
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def graphsearch(fringe, explored, start_state, end_state_coord):
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node = Node()
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node.state = start_state
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node.parent = node.state
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#node.action = "Right"
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fringe.append(node)
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iter = 0
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bool = True
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while bool:
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if len(fringe) == 0:
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bool = False
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#return False
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elem = fringe[iter]
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if elem.state.coord == end_state_coord:
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print("Gotowe!")
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bool = False
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return fringe
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explored.append(elem)
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another_states = successor(elem.state)
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for i in range(0, len(another_states)):
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n = len(fringe)
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for j in range(0, n):
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if another_states[i].state.coord[0] == fringe[j].state.coord[0] and another_states[i].state.coord[1] == fringe[j].state.coord[1]:
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if another_states[i].state.direction == fringe[j].state.direction:
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break
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else:
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# states = []
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# for k in range(0, len(fringe)):
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# new_state = fringe[k].state
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# states.append(new_state)
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# now_state = another_states[i].state
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# if now_state in states:
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# break
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states = []
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for k in range(0, len(fringe)):
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new_state = [fringe[k].state.coord, fringe[k].state.direction]
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states.append(new_state)
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now_state = [another_states[i].state.coord, another_states[i].state.direction]
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if now_state in states:
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break
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# bool_break = False
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# for k in range(0, n):
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# if another_states[i].state.coord[0] == fringe[k].state.coord[0] and another_states[i].state.coord[1] == fringe[k].state.coord[1]:
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# if another_states[i].state.direction == fringe[k].state.direction:
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# bool_break = True
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# if bool_break:
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# break
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another_states[i].parent = elem.state
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fringe.append(another_states[i])
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else:
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if another_states[i] in fringe:
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break
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if another_states[i].state.direction == fringe[j].state.direction:
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another_states[i].parent = elem.state
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fringe.append(another_states[i])
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iter += 1
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