s464868/Inteligentny_Traktor_Grupa_16
s464868/Inteligentny_Traktor_Grupa_16
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fixed bfs algorythm

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This commit is contained in:
Dawid Pylak 2022-04-07 12:49:00 +02:00
parent 3ad7a8fa1f
commit 1b2a4a376b
4 changed files with 27 additions and 20 deletions
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2
.idea/misc.xml
View File

@ -1,4 +1,4 @@
<?xml version="1.0" encoding="UTF-8"?>
<project version="4">
<component name="ProjectRootManager" version="2" project-jdk-name="Python 3.9 (ai-project)" project-jdk-type="Python SDK" />
<component name="ProjectRootManager" version="2" project-jdk-name="Python 3.9" project-jdk-type="Python SDK" />
</project>

5
main.py
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@ -3,6 +3,8 @@ import pygame
from src.world import World
from src.tractor import Tractor
from src.settings import Settings
from src.utils.bfs import BFSSearcher
from src.constants import Constants
def main():
@ -17,6 +19,9 @@ def main():
screen = pygame.display.set_mode((settings.screen_width, settings.screen_height))
pygame.display.set_caption('TRAKTOHOLIK')
search = BFSSearcher().search((8, 1), (6, 2), Constants.UP)
print(search)
run = True
while run:
clock.tick(settings.fps)

8
src/constants.py
View File

@ -2,9 +2,9 @@ class Constants:
""" Class to represent all constants for the app """
MOVE = "move"
UP = "up"
DOWN = "down"
RIGHT = "right"
LEFT = "left"
UP = [0, 1]
DOWN = [0, -1]
RIGHT = [1, 0]
LEFT = [-1, 0]
ROTATE_RIGHT = "rotate_right"
ROTATE_LEFT = "rotate_left"

32
src/utils/bfs.py
View File

@ -5,6 +5,7 @@ class Node:
def __init__(self, current_x, current_y, agent_direction, action=None, parent=None):
self.current_x = current_x
self.current_y = current_y
self.state = tuple([self.current_x, self.current_y])
self.action = action
self.parent = parent
self.agent_direction = agent_direction
@ -39,7 +40,7 @@ class Node:
neighbours.append((actions, (x - 1, y), C.LEFT))
if y > 0: # upper neighbour
if y < 9: # upper neighbour
if self.agent_direction == C.RIGHT:
actions = [C.ROTATE_LEFT, C.MOVE]
elif self.agent_direction == C.LEFT:
@ -49,9 +50,9 @@ class Node:
elif self.agent_direction == C.DOWN:
actions = [C.ROTATE_LEFT, C.ROTATE_LEFT, C.MOVE]
neighbours.append((actions, (x, y - 1), C.UP))
neighbours.append((actions, (x, y + 1), C.UP))
if y < 9: # down neighbour
if y > 0: # down neighbour
if self.agent_direction == C.RIGHT:
actions = [C.ROTATE_RIGHT, C.MOVE]
elif self.agent_direction == C.LEFT:
@ -61,10 +62,12 @@ class Node:
elif self.agent_direction == C.DOWN:
actions = C.MOVE
neighbours.append((actions, (x, y + 1), C.DOWN))
neighbours.append((actions, (x, y - 1), C.DOWN))
return neighbours
def __str__(self):
return self.state + ' ' + self.parent
class BFSSearcher:
@ -73,30 +76,27 @@ class BFSSearcher:
self.explored_states = []
self.path = []
def search(self, first_state: tuple, goal, agent_direction):
def search(self, first_state: tuple, goal: tuple, agent_direction: list):
self.fringe.append(Node(first_state[0], first_state[1], agent_direction))
while True:
if not self.fringe:
return False
element = self.fringe.pop(0)
element: Node = self.fringe.pop(0)
if element.state == goal:
return self.__state_eq_goal_action(element)
self.explored_states.append(element)
for action, state, direction in element.succesor():
for action, state, direction in element.successor():
fringe_states = []
explored_states = []
for node in self.fringe:
fringe_states.append(node.state)
for node in self.explored_states:
explored_states.append(node)
if state not in fringe_states and state not in explored_states:
x = Node(state[0], state[1], direction)
x.parent = element
x.action = action
explored_states.append(node.state)
if (state not in fringe_states) and (state not in explored_states):
x = Node(state[0], state[1], direction, action, element)
self.fringe.append(x)
def __state_eq_goal_action(self, current_element: Node):
@ -107,5 +107,7 @@ class BFSSearcher:
self.path.append(action)
else:
self.path.append(current_element.action)
current_element = current_element.parent
return self.path.reverse()
self.path.reverse()
return self.path