A* and corrected graphsearch

Graphsearch.py

@@ -0,0 +1,174 @@
+from operator import itemgetter
+
+import constants
+
+
+class Istate:
+    def __init__(self, direction, horizontal_index, vertical_index):
+        self.__direction = direction
+        self.__horizontal_index = horizontal_index
+        self.__vertical_index = vertical_index
+
+    @property
+    def direction(self):
+        return self.__direction
+
+    @property
+    def horizontal_index(self):
+        return self.__horizontal_index
+
+    @property
+    def vertical_index(self):
+        return self.__vertical_index
+
+
+class Node:
+    def __init__(self, action, direction, parent, horizontal_index, vertical_index):
+        self.__action = action
+        self.__direction = direction
+        self.__parent = parent
+        self.__horizontal_index = horizontal_index
+        self.__vertical_index = vertical_index
+
+    @property
+    def action(self):
+        return self.__action
+
+    @property
+    def direction(self):
+        return self.__direction
+
+    @property
+    def parent(self):
+        return self.__parent
+
+    @property
+    def horizontal_index(self):
+        return self.__horizontal_index
+
+    @property
+    def vertical_index(self):
+        return self.__vertical_index
+
+
+def goal_test(elem, goaltest):
+    if elem.horizontal_index == goaltest[0] and elem.vertical_index == goaltest[1]:
+        return True
+    else:
+        # print("Traktor wartosc horizontal_index: ", elem.horizontal_index)
+        # print("Traktor wartosc vertical_index: ", elem.vertical_index)
+        return False
+
+
+def print_moves(elem):
+    moves_list = []
+    while elem.parent is not None:
+        moves_list.append(elem.action)
+        elem = elem.parent
+    moves_list.reverse()
+    return moves_list
+
+
+def cost(board, node):
+    cost_value = 0
+    while node.parent is not None:
+        field = board[node.horizontal_index][node.vertical_index]
+        cost_value = cost_value + field.cost + 1
+        node = node.parent
+    return cost_value
+
+
+def heuristic(node, goaltest):
+    return abs(node.horizontal_index - goaltest[0]) + abs(node.vertical_index - goaltest[1])
+
+
+def f(board, node, goaltest):
+    cost_value = cost(board, node)
+    return cost_value + heuristic(node, goaltest)
+
+
+def succ(elem):
+    actions_list = []
+    direction = elem.direction
+    if direction == "UP":
+        direction = "RIGHT"
+    elif direction == "RIGHT":
+        direction = "DOWN"
+    elif direction == "DOWN":
+        direction = "LEFT"
+    elif direction == "LEFT":
+        direction = "UP"
+    actions_list.append(("Right_Rotation", (direction, elem.horizontal_index, elem.vertical_index)))
+
+    direction = elem.direction
+    if direction == "UP":
+        direction = "LEFT"
+    elif direction == "LEFT":
+        direction = "DOWN"
+    elif direction == "DOWN":
+        direction = "RIGHT"
+    elif direction == "RIGHT":
+        direction = "UP"
+    actions_list.append(("Left_Rotation", (direction, elem.horizontal_index, elem.vertical_index)))
+
+    horizontal_change = 0
+    vertical_change = 0
+
+    if elem.direction == "RIGHT" and elem.horizontal_index < constants.HORIZONTAL_TILES_NUMBER - 1:
+        horizontal_change = 1
+    elif elem.direction == "LEFT" and elem.horizontal_index > 0:
+        horizontal_change = -1
+    elif elem.direction == "UP" and elem.vertical_index > 0:
+        vertical_change = -1
+    elif elem.direction == "DOWN" and elem.vertical_index < constants.VERTICAL_TILES_NUMBER - 1:
+        vertical_change = 1
+
+    actions_list.append(("Move", (elem.direction, elem.horizontal_index + horizontal_change,
+                                  elem.vertical_index + vertical_change)))
+
+    return actions_list
+
+
+def graphsearch(fringe, explored, istate, goaltest, board):
+    node = Node(None, istate.direction, None, istate.horizontal_index, istate.vertical_index)
+    fringe.append((node, 0))
+    while True:
+        if not fringe:
+            return False
+
+        elem = fringe.pop(0)
+        temp = elem[0]
+
+        if goal_test(elem[0], goaltest) is True:
+            return print_moves(elem[0])
+
+        explored.append(elem)
+
+        for (action, state) in succ(temp):
+            fringe_list = []
+            fringe_list_priority = []
+            explored_list = []
+
+            for (x, y) in fringe:
+                fringe_list.append((x.direction, x.horizontal_index, x.vertical_index))
+                fringe_list_priority.append(((x.direction, x.horizontal_index, x.vertical_index), y))
+
+            for (x, y) in explored:
+                explored_list.append((x.direction, x.horizontal_index, x.vertical_index))
+
+            x = Node(action, state[0], elem[0], state[1], state[2])
+            p = f(board, x, goaltest)
+
+            if state not in fringe_list and state not in explored_list:
+                fringe.append((x, p))
+                fringe = sorted(fringe, key=itemgetter(1))
+            elif state in fringe_list:
+                index = 0
+                for (state_priority, r) in fringe_list_priority:
+                    if state_priority == state:
+                        if r > p:
+                            fringe.insert(index, (x, p))
+                            fringe.pop(index + 1)
+                            fringe = sorted(fringe, key=itemgetter(1))
+                            break
+                    index = index + 1