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image_recognition #5

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s473558 merged 23 commits from image_recognition into master 2023-06-12 16:25:59 +02:00
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1 changed files with 22 additions and 10 deletions
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graph_search.py
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@ -9,19 +9,31 @@ class Search:
def __init__(self, cell_size): def __init__(self, cell_size):
self.cell_size = cell_size self.cell_size = cell_size
# WARNING! IT EXCEEDS THE PLANE!!! #this method needs to check the size of the plane - for now, it assumes 15x15, like in main.py
def succ(self, state): # successor function def succ(self, state):
x = state[0] x = state[0]
y = state[1] y = state[1]
angle = state[2] angle = state[2]
if angle == 0: if angle == 0: # up
if y != 0: #this can stay as 0, negative values are not tolerated
return [['move', x, y - self.cell_size, 0], ['left', x, y, 270], ['right', x, y, 90]] return [['move', x, y - self.cell_size, 0], ['left', x, y, 270], ['right', x, y, 90]]
if angle == 90: else:
return [['left', x, y, 270], ['right', x, y, 90]]
if angle == 90: # right
if x != 700: #this needs to be changed to relative once size of plane is read by succ (parse in Search constructor?)
return [['move', x + self.cell_size, y, 90], ['left', x, y, 0], ['right', x, y, 180]] return [['move', x + self.cell_size, y, 90], ['left', x, y, 0], ['right', x, y, 180]]
if angle == 180: else:
return [['left', x, y, 0], ['right', x, y, 180]]
if angle == 180: # down
if y != 700: #this needs to be changed to relative once size of plane is read by succ (parse in Search constructor?)
return [['move', x, y + self.cell_size, 180], ['left', x, y, 90], ['right', x, y, 270]] return [['move', x, y + self.cell_size, 180], ['left', x, y, 90], ['right', x, y, 270]]
if angle == 270: else:
return [['left', x, y, 90], ['right', x, y, 270]]
if angle == 270: # left
if x != 0: #this can stay as 0, negative values are not tolerated
return [['move', x - self.cell_size, y, 270], ['left', x, y, 180], ['right', x, y, 0]] return [['move', x - self.cell_size, y, 270], ['left', x, y, 180], ['right', x, y, 0]]
else:
return [['left', x, y, 180], ['right', x, y, 0]]
def graphsearch(self, istate, goaltest): def graphsearch(self, istate, goaltest):
x = istate[0] x = istate[0]