s464868/Inteligentny_Traktor_Grupa_16
s464868/Inteligentny_Traktor_Grupa_16
5
4
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

Implement A* tile cost

Browse Source
This commit is contained in:
Adam Szpilkowski 2022-05-19 17:36:23 +02:00
parent 81398cb15b
commit b070fd8600
3 changed files with 20 additions and 19 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
main.py
View File

@ -19,11 +19,12 @@ def main():
pygame.display.set_caption('TRAKTOHOLIK') # nazwa okna
start_cords = (8, 1)
goals = [(3, 3), (7, 7), (0, 0)]
goals = [(8, 7), (7, 7), (0, 0)]
end_cords = goals[0]
start_dir = tractor.curr_direction # przypisanie początkowego ustawienia traktora do zmiennej
# path = BFSSearcher().search(start_cords, end_cords, start_dir) # wygenerowanie listy ruchów na bazie BFS
path = a_star_search(start_cords, end_cords, start_dir) # generowanie ścieżki za pomocą A*
path = a_star_search(start_cords, end_cords, start_dir, world) # generowanie ścieżki za pomocą A*
run = True
while run:
@ -46,7 +47,7 @@ def main():
end_cords = goals[0] # ustaw kolejny cel
start_dir = tractor.curr_direction # aktualizacja kierunku traktora
# path = BFSSearcher().search(start_cord, end_cords, start_dir) # generacja nowej ścieżki
path = a_star_search(new_start, end_cords, start_dir)
path = a_star_search(new_start, end_cords, start_dir, world)
pygame.time.wait(settings.freeze_time)
pygame.display.update()

18
src/utils/astar.py
View File

@ -1,12 +1,11 @@
from operator import itemgetter
import copy
import tractor
from world import World
import world
from constants import Constants as C
# noinspection DuplicatedCode
class Node:
def __init__(self, x, y, agent_direction, action=None, parent=None): # inicjalizacja węzła
self.x = x
@ -65,16 +64,16 @@ def h_cost(goal: tuple, node: Node): # oblicznie heurystyki
return abs(node.x - goal[0]) + abs(node.y - goal[1])
def g_cost(node: Node): # funkcja kosztu : ile kosztuje przejechanie przez dane pole
def g_cost(node: Node, world_map: World): # funkcja kosztu : ile kosztuje przejechanie przez dane pole
cost = 0
while node.get_parent() is not None:
cost += 10
cost += world_map.get_tile_cost(node.x, node.y) + 1
node = node.get_parent()
return cost
def f_cost(goal: tuple, node: Node): # funkcja zwracająca sumę funkcji kosztu oraz heurestyki
return g_cost(node) + h_cost(goal, node)
def f_cost(goal: tuple, node: Node, world_map: World): # funkcja zwracająca sumę funkcji kosztu oraz heurestyki
return g_cost(node, world_map) + h_cost(goal, node)
def print_moves(node: Node): # zwraca listę ruchów jakie należy wykonać by dotrzeć do punktu docelowego
@ -89,7 +88,7 @@ def is_goal_reached(element: Node, goal: tuple):
return (element.x, element.y) == goal
def a_star_search(state: tuple, goal: tuple, agent_direction: list):
def a_star_search(state: tuple, goal: tuple, agent_direction: list, world_map: World):
fringe = []
explored = []
@ -121,12 +120,12 @@ def a_star_search(state: tuple, goal: tuple, agent_direction: list):
explored_tuple.append(((node.get_x(), node.get_y()), node.get_direction()))
new_node = Node(elem_state[0][0], elem_state[0][1], elem_state[1], action, element[0])
p = f_cost(goal, new_node)
p = f_cost(goal, new_node, world_map)
if elem_state not in fringe_tuple and elem_state not in explored_tuple:
fringe.append((new_node, p))
fringe = sorted(fringe, key=itemgetter(1))
# print("fringe_loop_if: ", fringe)
elif elem_state in fringe_tuple:
i = 0
for (state_prio, r) in fringe_tuple_prio:
@ -135,6 +134,5 @@ def a_star_search(state: tuple, goal: tuple, agent_direction: list):
fringe.insert(i, (new_node, p))
fringe.pop(i + 1)
fringe = sorted(fringe, key=itemgetter(1))
# print("fringe_loop_elif: ", fringe)
break
i += 1

14
src/world.py
View File

@ -9,8 +9,8 @@ class World:
self.world_data = [[1, 1, 1, 1, 1, 1, 1, 1, 1, 1],
[1, 1, 1, 1, 1, 1, 1, 1, 1, 1],
[1, 1, 1, 1, 1, 1, 1, 1, 1, 1],
[1, 1, 1, 1, 1, 0, 0, 0, 0, 1],
[1, 1, 1, 1, 1, 0, 0, 0, 0, 1],
[1, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[1, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[1, 1, 1, 1, 1, 1, 1, 1, 1, 1],
[1, 1, 1, 1, 1, 1, 1, 1, 1, 1],
[1, 1, 1, 1, 1, 1, 1, 1, 1, 1],
@ -30,15 +30,15 @@ class World:
if tile == 1:
img = pygame.transform.scale(self.dirt_image, (self.settings.tile_size, self.settings.tile_size))
type = 'dirt'
cost = 0
cost = 1
elif tile == 0:
img = pygame.transform.scale(self.rock_image, (self.settings.tile_size, self.settings.tile_size))
type = 'rock'
cost = 100
cost = 1000
img_rect = img.get_rect()
img_rect.x = col_count * self.settings.tile_size
img_rect.y = row_count * self.settings.tile_size
tile = Tile(type, len(self.world_data) - row_count - 1, col_count, img, img_rect, cost)
tile = Tile(type, col_count, len(self.world_data) - row_count - 1, img, img_rect, cost)
self.tiles.add(tile)
col_count += 1
row_count += 1
@ -56,4 +56,6 @@ class World:
def get_tile_cost(self, x, y):
for tile in self.tiles:
if tile.position == (x, y):
return tile.cost
return tile.cost