provisionary limit to the succ function
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@ -9,19 +9,31 @@ class Search:
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def __init__(self, cell_size):
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self.cell_size = cell_size
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# WARNING! IT EXCEEDS THE PLANE!!!
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def succ(self, state): # successor function
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#this method needs to check the size of the plane - for now, it assumes 15x15, like in main.py
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def succ(self, state):
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x = state[0]
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y = state[1]
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angle = state[2]
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if angle == 0:
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return [['move', x, y - self.cell_size, 0], ['left', x, y, 270], ['right', x, y, 90]]
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if angle == 90:
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return [['move', x + self.cell_size, y, 90], ['left', x, y, 0], ['right', x, y, 180]]
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if angle == 180:
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return [['move', x, y + self.cell_size, 180], ['left', x, y, 90], ['right', x, y, 270]]
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if angle == 270:
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return [['move', x - self.cell_size, y, 270], ['left', x, y, 180], ['right', x, y, 0]]
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if angle == 0: # up
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if y != 0: #this can stay as 0, negative values are not tolerated
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return [['move', x, y - self.cell_size, 0], ['left', x, y, 270], ['right', x, y, 90]]
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else:
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return [['left', x, y, 270], ['right', x, y, 90]]
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if angle == 90: # right
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if x != 700: #this needs to be changed to relative once size of plane is read by succ (parse in Search constructor?)
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return [['move', x + self.cell_size, y, 90], ['left', x, y, 0], ['right', x, y, 180]]
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else:
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return [['left', x, y, 0], ['right', x, y, 180]]
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if angle == 180: # down
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if y != 700: #this needs to be changed to relative once size of plane is read by succ (parse in Search constructor?)
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return [['move', x, y + self.cell_size, 180], ['left', x, y, 90], ['right', x, y, 270]]
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else:
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return [['left', x, y, 90], ['right', x, y, 270]]
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if angle == 270: # left
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if x != 0: #this can stay as 0, negative values are not tolerated
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return [['move', x - self.cell_size, y, 270], ['left', x, y, 180], ['right', x, y, 0]]
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else:
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return [['left', x, y, 180], ['right', x, y, 0]]
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def graphsearch(self, istate, goaltest):
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x = istate[0]
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