Merge pull request 'Implement A-Star algorithm' (#18) from a-star into master
Reviewed-on: #18
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commit
4cfd961c67
185
astar.py
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185
astar.py
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from operator import itemgetter
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import settings
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import copy
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class State:
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def __init__(self, direction, x, y):
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self.direction = direction
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self.x = x
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self.y = y
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def get_direction(self):
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return self.direction
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def set_direction(self, direction):
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self.direction = direction
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def get_x(self):
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return self.x
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def set_x(self, x):
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self.x = x
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def get_y(self):
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return self.y
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def set_y(self, y):
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self.y = y
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class Node:
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def __init__(self, action, direction, parent, x, y):
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self.action = action
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self.direction = direction
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self.parent = parent
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self.x = x
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self.y = y
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def get_action(self):
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return self.action
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def set_action(self, action):
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self.action = action
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def get_direction(self):
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return self.direction
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def set_direction(self, direction):
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self.direction = direction
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def get_parent(self):
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return self.parent
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def set_parent(self, parent):
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self.parent = parent
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def get_x(self):
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return self.x
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def set_x(self, x):
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self.x = x
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def get_y(self):
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return self.y
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def set_y(self, y):
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self.y = y
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def cost(map, node):
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cost = 0
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x = node.get_x()
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y = node.get_y()
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if map[x][y] == 'dirt':
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cost = 5
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elif map[x][y] == 'grass':
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cost = 3
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elif map[x][y] == 'cobble':
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cost = 1
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elif map[x][y] == 'sand':
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cost = 10
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elif map[x][y] == 'station':
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cost = 0
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return cost
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def f(goaltest, map, node):
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return cost(map, node) + heuristic(goaltest, node)
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def goal_test(element,goaltest):
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if element.get_x() == goaltest[0] and element.get_y() == goaltest[1]:
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return True
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else:
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return False
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def graphsearch(explored, f, fringe, goaltest, state, map, succ):
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node = Node(None, state.get_direction(), None, state.get_x(), state.get_y())
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fringe.append((node, 0))
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while True:
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if not fringe: return False
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elem = fringe.pop(0)
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temp = copy.copy(elem[0])
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if goal_test(elem[0], goaltest) is True:
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return print_moves(elem[0])
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explored.append(elem)
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for (action, state) in succ(temp):
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fringe_tuple = []
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fringe_tuple_priority = []
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explored_tuple = []
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for (x, y) in fringe:
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fringe_tuple.append((x.get_direction(), x.get_x(), x.get_y()))
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fringe_tuple_priority.append(((x.get_direction(), x.get_x(), x.get_y()), y))
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for (x, y) in explored:
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explored_tuple.append((x.get_direction(), x.get_x(), x.get_y()))
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x = Node(action, state[0], elem[0], state[1],
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state[2])
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p = f(goaltest, map, x)
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if state not in fringe_tuple and state not in explored_tuple:
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fringe.append((x, p))
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fringe = sorted(fringe, key=itemgetter(1))
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elif state in fringe_tuple:
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i = 0
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for (state_prio, r) in fringe_tuple_priority:
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if str(state_prio) == str(state):
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if r > p:
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fringe.insert(i, (x, p))
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fringe.pop(i + 1)
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fringe = sorted(fringe, key=itemgetter(1))
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break
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i = i + 1
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def heuristic(goaltest, node):
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return abs(node.get_x() - goaltest[0]) + abs(node.get_y() - goaltest[1])
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def print_moves(elem):
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moves_list = []
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while (elem.get_parent() != None):
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moves_list.append(elem.get_action())
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elem = elem.get_parent()
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moves_list.reverse()
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return moves_list
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def is_move_allowed(node):
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if node.get_direction() == 2 and node.get_x() + 1 < settings.Pygame.width():
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return "x + 1"
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elif node.get_direction() == 1 and node.get_y() - 1 >= 0:
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return "y - 1"
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elif node.get_direction() == 3 and node.get_y() + 1 < settings.Pygame.height():
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return "y + 1"
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elif node.get_direction() == 4 and node.get_x() - 1 >= 0:
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return "x - 1"
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else:
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return False
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def succ(node):
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actions_list = []
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direction = copy.copy(node.get_direction())
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if direction == 1:
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direction = 4
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else:
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direction = direction - 1
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actions_list.append(("l", (direction, node.get_x(), node.get_y())))
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direction = copy.copy(node.get_direction())
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if direction == 4:
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direction = 1
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else:
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direction = direction + 1
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actions_list.append(("r", (direction, node.get_x(), node.get_y())))
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temp_move_south = node.get_y() + 1
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temp_move_west = node.get_x() - 1
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temp_move_east = node.get_x() + 1
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temp_move_north = node.get_y() - 1
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if is_move_allowed(node) == "x + 1":
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actions_list.append(("f", (node.get_direction(), temp_move_east, node.get_y())))
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elif is_move_allowed(node) == "y - 1":
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actions_list.append(("f", (node.get_direction(), node.get_x(), temp_move_north)))
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elif is_move_allowed(node) == "y + 1":
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actions_list.append(("f", (node.get_direction(), node.get_x(), temp_move_south)))
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elif is_move_allowed(node) == "x - 1":
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actions_list.append(("f", (node.get_direction(), temp_move_west, node.get_y())))
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return actions_list
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5
main.py
5
main.py
@ -7,6 +7,7 @@ import common
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import agent
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import math
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import time
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import astar
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possibleFields = {
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'dirt': field.Dirt(),
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@ -121,8 +122,8 @@ def main():
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pygame.display.set_caption(settings.Pygame.display_name())
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fields, fields_2 = randomize_map()
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state = graph.State(2, 0, 0)
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move_list = (graph.graphsearch([], [], [10,10] , state, graph.succ))
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state = astar.State(2, 0, 0)
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move_list = (astar.graphsearch([], astar.f,[], [10,10] , state, fields_2 ,astar.succ))
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print(move_list)
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x = True
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while common.get('game_running'):
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