si23traktor/graph_search.py

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class Node:
def __init__(self, state, parent='', action=''):
self.state = state
self.parent = parent
self.action = action
class Search:
def __init__(self, cell_size):
self.cell_size = cell_size
# WARNING! IT EXCEEDS THE PLANE!!!
def succ(self, state): # successor function
x = state[0]
y = state[1]
angle = state[2]
if angle == 0:
return [['move', x, y - self.cell_size, 0], ['left', x, y, 270], ['right', x, y, 90]]
if angle == 90:
return [['move', x + self.cell_size, y, 90], ['left', x, y, 0], ['right', x, y, 180]]
if angle == 180:
return [['move', x, y + self.cell_size, 180], ['left', x, y, 90], ['right', x, y, 270]]
if angle == 270:
return [['move', x - self.cell_size, y, 270], ['left', x, y, 180], ['right', x, y, 0]]
def graphsearch(self, istate, goaltest):
x = istate[0]
y = istate[1]
angle = istate[2]
fringe = [Node([x, y, angle])] # queue (moves/states to check)
fringe_state = [fringe[0].state]
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explored = []
while True:
if len(fringe) == 0:
return False
elem = fringe.pop(0)
fringe_state.pop(0)
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# if goal_test(elem.state):
# return
# print(elem.state[0], elem.state[1], elem.state[2])
if elem.state[0] == goaltest[0] and elem.state[1] == goaltest[1]: # checks if we reached the given point
steps = []
while elem.parent != '':
steps.append([elem.action, elem.state[0], elem.state[1]]) # should return only elem.action in prod
elem = elem.parent
steps.reverse()
print(steps) # only for dev
return steps
explored.append(elem.state)
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for (action, state_x, state_y, state_angle) in self.succ(elem.state):
if state_x < 0 or state_y < 0: # check if any of the values are negative
continue
if [state_x, state_y, state_angle] not in fringe_state and \
[state_x, state_y, state_angle] not in explored:
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x = Node([state_x, state_y, state_angle])
x.parent = elem
x.action = action
fringe.append(x)
fringe_state.append(x.state)
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se = Search(50)
se.graphsearch(istate=[50, 50, 0], goaltest=[150, 250])