cost for every node
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5cb1a13327
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@ -90,7 +90,7 @@ class AI:
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dists = [] # how long way is to all mines from start([0, 0])
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for mine in self.current_map.mines:
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dists.append(sqrt((self.saper.position_x-mine.position_x)**2 + (self.saper.position_y-mine.position_y)**2))
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# print(dists)
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print(dists)
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ind = dists.index(min(dists)) # choose nearest mine
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goal_state = [self.current_map.mines[ind].position_x, self.current_map.mines[ind].position_y]
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print(f'We go to {goal_state}')
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106
classes/bfs.py
106
classes/bfs.py
@ -19,6 +19,7 @@ class BFS:
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#print(neighbours_list[0])
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#print(neighbours_list[1])
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#print(neighbours_list[2])
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#print(neighbours_list)
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# if neighbours_list[1][0] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
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@ -76,46 +77,118 @@ class BFS:
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if current_position[2] == 180: # jesli patrzy na polnoc
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if neighbours_list[0][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
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tmp = ('forward', [current_position[0], current_position[1] - 1, 180])
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if neighbours_list[0][1] == 'grass':
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cost = 2
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elif neighbours_list[0][1] == 'sand':
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cost = 1
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elif neighbours_list[0][1] == 'mine':
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cost = 0
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tmp = ('forward', [current_position[0], current_position[1] - 1, 180], cost)
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new_nodes.append(tmp)
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if neighbours_list[1][0] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
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tmp = ('left', [current_position[0],current_position[1], 270])
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if neighbours_list[1][0] == 'grass':
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cost = 2
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elif neighbours_list[1][0] == 'sand':
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cost = 1
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elif neighbours_list[1][0] == 'mine':
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cost = 0
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tmp = ('left', [current_position[0],current_position[1], 270], cost)
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new_nodes.append(tmp)
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if neighbours_list[1][2] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
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tmp = ('right', [current_position[0], current_position[1], 90])
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if neighbours_list[1][2] == 'grass':
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cost = 2
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elif neighbours_list[1][2] == 'sand':
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cost = 1
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elif neighbours_list[1][2] == 'mine':
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cost = 0
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tmp = ('right', [current_position[0], current_position[1], 90], cost)
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new_nodes.append(tmp)
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if current_position[2] == 90: # jesli patrzy na wschod
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if neighbours_list[1][2] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
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tmp = ('forward', [current_position[0] + 1, current_position[1], 90])
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if neighbours_list[1][2] == 'grass':
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cost = 2
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elif neighbours_list[1][2] == 'sand':
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cost = 1
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elif neighbours_list[1][2] == 'mine':
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cost = 0
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tmp = ('forward', [current_position[0] + 1, current_position[1], 90], cost)
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new_nodes.append(tmp)
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if neighbours_list[0][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
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tmp = ('left', [current_position[0], current_position[1], 180])
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if neighbours_list[0][1] == 'grass':
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cost = 2
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elif neighbours_list[0][1] == 'sand':
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cost = 1
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elif neighbours_list[0][1] == 'mine':
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cost = 0
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tmp = ('left', [current_position[0], current_position[1], 180], cost)
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new_nodes.append(tmp)
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if neighbours_list[2][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
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tmp = ('right', [current_position[0], current_position[1], 0])
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if neighbours_list[2][1] == 'grass':
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cost = 2
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elif neighbours_list[2][1] == 'sand':
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cost = 1
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elif neighbours_list[2][1] == 'mine':
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cost = 0
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tmp = ('right', [current_position[0], current_position[1], 0], cost)
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new_nodes.append(tmp)
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if current_position[2] == 0: # jesli patczy na poludzie
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if neighbours_list[2][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
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tmp = ('forward', [current_position[0], current_position[1] + 1, 0])
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if neighbours_list[2][1] == 'grass':
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cost = 2
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elif neighbours_list[2][1] == 'sand':
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cost = 1
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elif neighbours_list[2][1] == 'mine':
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cost = 0
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tmp = ('forward', [current_position[0], current_position[1] + 1, 0], cost)
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new_nodes.append(tmp)
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if neighbours_list[1][2] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
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tmp = ('left', [current_position[0], current_position[1], 90])
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if neighbours_list[1][2] == 'grass':
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cost = 2
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elif neighbours_list[1][2] == 'sand':
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cost = 1
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elif neighbours_list[1][2] == 'mine':
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cost = 0
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tmp = ('left', [current_position[0], current_position[1], 90], cost)
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new_nodes.append(tmp)
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if neighbours_list[1][0] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
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tmp = ('right', [current_position[0],current_position[1], 270])
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if neighbours_list[1][0] == 'grass':
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cost = 2
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elif neighbours_list[1][0] == 'sand':
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cost = 1
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elif neighbours_list[1][0] == 'mine':
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cost = 0
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tmp = ('right', [current_position[0],current_position[1], 270], cost)
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new_nodes.append(tmp)
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if current_position[2] == 270: # jesli patczy na wschod
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if neighbours_list[1][0] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
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tmp = ('forward', [current_position[0] - 1,current_position[1], 270])
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if neighbours_list[1][0] == 'grass':
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cost = 2
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elif neighbours_list[1][0] == 'sand':
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cost = 1
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elif neighbours_list[1][0] == 'mine':
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cost = 0
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tmp = ('forward', [current_position[0] - 1,current_position[1], 270], cost)
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new_nodes.append(tmp)
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if neighbours_list[2][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
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tmp = ('left', [current_position[0], current_position[1], 0])
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if neighbours_list[2][1] == 'grass':
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cost = 2
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elif neighbours_list[2][1] == 'sand':
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cost = 1
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elif neighbours_list[2][1] == 'mine':
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cost = 0
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tmp = ('left', [current_position[0], current_position[1], 0], cost)
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new_nodes.append(tmp)
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if neighbours_list[0][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
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tmp = ('right', [current_position[0], current_position[1], 180])
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if neighbours_list[0][1] == 'grass':
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cost = 2
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elif neighbours_list[0][1] == 'sand':
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cost = 1
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elif neighbours_list[0][1] == 'mine':
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cost = 0
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tmp = ('right', [current_position[0], current_position[1], 180], cost)
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new_nodes.append(tmp)
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return new_nodes
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@ -129,12 +202,15 @@ class BFS:
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# goaltest = test spewnienia celu
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def graphsearch(self, fringe, explored, succ, goaltest):
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# def manhattan(state, target_state):
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# return abs(state.get_x() - target_state.get_x()) + abs(state.get_y() - target_state.get_y())
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self.window.pause(True)
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positiont_at_beginning = [self.agent.position_x, self.agent.position_y, self.agent.rotation_degrees] # x, y, gdzie_patczy
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print(f'Position {positiont_at_beginning}')
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final_action_list = [] # lista co ma robic zeby dojechac do miny
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root = node.Node(None, None, positiont_at_beginning) # parent, action, position
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root = node.Node(None, None, positiont_at_beginning, 0) # parent, action, position
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counter = 0
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heapq.heappush(fringe, (counter, root))
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#visited_position = []
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@ -171,12 +247,12 @@ class BFS:
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neighbours_list_of_our_node = self.successor(tmp_node_position) # lista możliwych akcij
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#print(neighbours_list_of_our_node)
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print(neighbours_list_of_our_node)
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for node_ in neighbours_list_of_our_node:
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# jesli pozucja wezla nie jest w fringe i nie jest w visited
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if [node_[1][0], node_[1][1], node_[1][2]] not in explored and node_[1][0] >= 0 and node_[1][1] >=0:
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counter += 1
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x = node.Node(tmp_node, node_[0], node_[1]) # action
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x = node.Node(tmp_node, node_[0], node_[1], node_[2]) # action
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heapq.heappush(fringe, (counter, x))
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self.window.draw_search([self.agent.position_x, self.agent.position_y], [node_[1][0], node_[1][1]])
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@ -112,7 +112,7 @@ class Map:
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rng = randrange(10)
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if ok and rng==0 and not (i<2 and j<3):
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matrix[i].append(10)
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elif ok and rng>8 and not (i<2 and j<3):
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elif ok and rng>7 and not (i<2 and j<3):
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matrix[i].append(5)
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elif ok and rng<2 and not (i<2 and j<3):
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matrix[i].append(0)
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@ -1,23 +1,9 @@
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class Node:
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def __init__(self, parent, action, state_array):
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def __init__(self, parent, action, state_array, cost):
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self.parent = parent
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self.action = action
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self.position = state_array
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# if parent:
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# parent_pos = parent[1].get_position()
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# diff = [state_array[0] - parent_pos[0], state_array[1] - parent_pos[1]]
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# if diff[0]==1:
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# action="E"
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# elif diff[0]==-1:
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# action="W"
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# elif diff[1]==1:
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# action="S"
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# elif diff[1]==-1:
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# action="N"
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# self.action=action
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# else:
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# self.action=action
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self.cost = cost
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def get_position(self):
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return self.position
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@ -31,4 +17,6 @@ class Node:
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def set_parent(self, parent):
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self.parent = parent
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def get_cost(self):
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return self.cost
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