si23traktor/graph_search.py

83 lines
3.3 KiB
Python

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
#this method needs to check the size of the plane - for now, it assumes 15x15, like in main.py
def succ(self, state):
x = state[0]
y = state[1]
angle = state[2]
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]]
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]]
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]]
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]]
else:
return [['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]
explored = []
while True:
if len(fringe) == 0:
return False
elem = fringe.pop(0)
fringe_state.pop(0)
# 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)
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:
x = Node([state_x, state_y, state_angle])
x.parent = elem
x.action = action
fringe.append(x)
fringe_state.append(x.state)
se = Search(50)
se.graphsearch(istate=[50, 50, 0], goaltest=[150, 250])