112 lines
4.2 KiB
Python
112 lines
4.2 KiB
Python
def get_path(cond):
|
|
path = []
|
|
while cond.parent:
|
|
path.append(cond.action)
|
|
cond = cond.parent
|
|
return list(reversed(path))
|
|
|
|
|
|
class bfs:
|
|
def __init__(self, surface_list, endpoint):
|
|
self.surface_list = surface_list
|
|
self.endpoint = endpoint
|
|
|
|
def goal_achieved(self, state):
|
|
return state == self.endpoint
|
|
|
|
def limitation_check(self, x, y):
|
|
for surface in self.surface_list:
|
|
if (surface.weight == 1) and (surface.y/60 == x) and (surface.x/60 == y):
|
|
return True
|
|
return False
|
|
|
|
def add_all_possibilities(self, current):
|
|
states = []
|
|
if current.direction == 'L':
|
|
# when you look left and turn left
|
|
new_condition = condition(current.state, 'D')
|
|
new_condition.action = 'L'
|
|
states.append(new_condition)
|
|
# when you turn right
|
|
new_condition = condition(current.state, 'U')
|
|
new_condition.action = 'R'
|
|
states.append(new_condition)
|
|
# when you move
|
|
if self.limitation_check(current.state[0], current.state[1] - 1):
|
|
new_condition = condition((current.state[0], current.state[1] - 1), current.direction)
|
|
new_condition.action = 'M'
|
|
states.append(new_condition)
|
|
|
|
if current.direction == 'U':
|
|
# when you look up and turn left
|
|
new_condition = condition(current.state, 'L')
|
|
new_condition.action = 'L'
|
|
states.append(new_condition)
|
|
# when you turn right
|
|
new_condition = condition(current.state, 'R')
|
|
new_condition.action = 'R'
|
|
states.append(new_condition)
|
|
# when you move
|
|
if self.limitation_check(current.state[0] - 1, current.state[1]):
|
|
new_condition = condition((current.state[0] - 1, current.state[1]), current.direction)
|
|
new_condition.action = 'M'
|
|
states.append(new_condition)
|
|
|
|
if current.direction == 'R':
|
|
# when you look right and turn left
|
|
new_condition = condition(current.state, 'U')
|
|
new_condition.action = 'L'
|
|
states.append(new_condition)
|
|
# when you turn right
|
|
new_condition = condition(current.state, 'D')
|
|
new_condition.action = 'R'
|
|
states.append(new_condition)
|
|
# when you move
|
|
if self.limitation_check(current.state[0], current.state[1] + 1):
|
|
new_condition = condition((current.state[0], current.state[1] + 1), current.direction)
|
|
new_condition.action = 'M'
|
|
states.append(new_condition)
|
|
|
|
if current.direction == 'D':
|
|
# when you look down and turn left
|
|
new_condition = condition(current.state, 'R')
|
|
new_condition.action = 'L'
|
|
states.append(new_condition)
|
|
# when you turn right
|
|
new_condition = condition(current.state, 'L')
|
|
new_condition.action = 'R'
|
|
states.append(new_condition)
|
|
# when you move
|
|
if self.limitation_check(current.state[0] + 1, current.state[1]):
|
|
new_condition = condition((current.state[0] + 1, current.state[1]), current.direction)
|
|
new_condition.action = 'M'
|
|
states.append(new_condition)
|
|
return states
|
|
|
|
def tree_search(self, queue, start, direction):
|
|
queue.append(condition(start, direction))
|
|
while queue:
|
|
elem = queue.popleft()
|
|
|
|
if self.goal_achieved(elem.state):
|
|
return get_path(elem)
|
|
|
|
for state in self.add_all_possibilities(elem):
|
|
if state not in queue:
|
|
state.parent = elem
|
|
queue.append(state)
|
|
|
|
|
|
class condition:
|
|
def __init__(self, state, direction):
|
|
self.state = state
|
|
self.parent = None
|
|
self.action = None
|
|
self.direction = direction
|
|
|
|
def __eq__(self, other):
|
|
if isinstance(other, condition):
|
|
return (self.state == other.state and
|
|
self.action == other.action and
|
|
self.direction == other.direction)
|