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fixed bfs algorythm 2

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This commit is contained in:
Dawid Pylak 2022-04-07 13:06:25 +02:00
parent a67d160f9a
commit 7df7885cbf
1 changed files with 17 additions and 15 deletions
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32
src/utils/bfs.py
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@ -5,6 +5,7 @@ class Node:
def __init__(self, current_x, current_y, agent_direction, action=None, parent=None): def __init__(self, current_x, current_y, agent_direction, action=None, parent=None):
self.current_x = current_x self.current_x = current_x
self.current_y = current_y self.current_y = current_y
self.state = tuple([self.current_x, self.current_y])
self.action = action self.action = action
self.parent = parent self.parent = parent
self.agent_direction = agent_direction self.agent_direction = agent_direction
@ -39,7 +40,7 @@ class Node:
neighbours.append((actions, (x - 1, y), C.LEFT)) neighbours.append((actions, (x - 1, y), C.LEFT))
if y > 0: # upper neighbour if y < 9: # upper neighbour
if self.agent_direction == C.RIGHT: if self.agent_direction == C.RIGHT:
actions = [C.ROTATE_LEFT, C.MOVE] actions = [C.ROTATE_LEFT, C.MOVE]
elif self.agent_direction == C.LEFT: elif self.agent_direction == C.LEFT:
@ -49,9 +50,9 @@ class Node:
elif self.agent_direction == C.DOWN: elif self.agent_direction == C.DOWN:
actions = [C.ROTATE_LEFT, C.ROTATE_LEFT, C.MOVE] 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: if self.agent_direction == C.RIGHT:
actions = [C.ROTATE_RIGHT, C.MOVE] actions = [C.ROTATE_RIGHT, C.MOVE]
elif self.agent_direction == C.LEFT: elif self.agent_direction == C.LEFT:
@ -61,10 +62,12 @@ class Node:
elif self.agent_direction == C.DOWN: elif self.agent_direction == C.DOWN:
actions = C.MOVE actions = C.MOVE
neighbours.append((actions, (x, y + 1), C.DOWN)) neighbours.append((actions, (x, y - 1), C.DOWN))
return neighbours return neighbours
def __str__(self):
return self.state + ' ' + self.parent
class BFSSearcher: class BFSSearcher:
@ -73,30 +76,27 @@ class BFSSearcher:
self.explored_states = [] self.explored_states = []
self.path = [] 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)) self.fringe.append(Node(first_state[0], first_state[1], agent_direction))
while True: while True:
if not self.fringe: if not self.fringe:
return False return False
element = self.fringe.pop(0) element: Node = self.fringe.pop(0)
if element.state == goal: if element.state == goal:
return self.__state_eq_goal_action(element) return self.__state_eq_goal_action(element)
self.explored_states.append(element) self.explored_states.append(element)
for action, state, direction in element.successor():
for action, state, direction in element.succesor():
fringe_states = [] fringe_states = []
explored_states = [] explored_states = []
for node in self.fringe: for node in self.fringe:
fringe_states.append(node.state) fringe_states.append(node.state)
for node in self.explored_states: for node in self.explored_states:
explored_states.append(node) explored_states.append(node.state)
if state not in fringe_states and state not in explored_states: if (state not in fringe_states) and (state not in explored_states):
x = Node(state[0], state[1], direction) x = Node(state[0], state[1], direction, action, element)
x.parent = element
x.action = action
self.fringe.append(x) self.fringe.append(x)
def __state_eq_goal_action(self, current_element: Node): def __state_eq_goal_action(self, current_element: Node):
@ -107,5 +107,7 @@ class BFSSearcher:
self.path.append(action) self.path.append(action)
else: else:
self.path.append(current_element.action) self.path.append(current_element.action)
current_element = current_element.parent
return self.path.reverse() self.path.reverse()
return self.path