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A* cleanup

This commit is contained in:
Wit Uta 2023-05-15 11:29:44 +02:00
parent 86c5ad6fd1
commit c443087ab0
1 changed files with 15 additions and 8 deletions
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23
src/agent.py
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@ -153,9 +153,7 @@ class Agent:
def get_start_state(self): def get_start_state(self):
entities = self.simulation.state.entities entities = self.simulation.state.entities
for entity in entities: # orientation - self.orientation
if entity.entity_type == 'truck':
orientation = entity.orientation
position = self.current_pos position = self.current_pos
house_list = tuple(self.houses) house_list = tuple(self.houses)
start_state = (position, house_list) start_state = (position, house_list)
@ -169,14 +167,22 @@ class Agent:
def succesor(self, state): def succesor(self, state):
successors_pos = self.graph[state[0]] successors_pos = self.graph[state[0]]
house_list = [state[1]] house_list = state[1]
successors = () successors = ()
for pos in successors_pos: for pos in successors_pos:
if pos in house_list: if pos in house_list:
house_list = list(house_list)
house_list.remove(pos) house_list.remove(pos)
successors += ((pos, tuple(house_list)),) house_list = tuple(house_list)
successors = list(successors)
successors.append((pos, tuple(house_list)))
successors = tuple(successors)
else: else:
successors += ((pos, tuple(house_list)),) successors = list(successors)
successors.append((pos, tuple(house_list)))
successors = tuple(successors)
return successors return successors
@ -204,10 +210,11 @@ class Agent:
explored.add(elem) explored.add(elem)
for succ in self.succesor(elem): succs = self.succesor(elem)
for succ in succs:
node = (succ, elem) node = (succ, elem)
p = self.heuristic(succ[0], goaltest[0]) p = self.heuristic(succ[0], goaltest[0]) + self.weight_cost(elem[0], succ[0])
if succ not in explored and not any(tup[1][0] == succ for tup in fringe): if succ not in explored and not any(tup[1][0] == succ for tup in fringe):
heapq.heappush(fringe, (p,node)) heapq.heappush(fringe, (p,node))