Machine_learning_2023/AI_brain/rotate_and_go_bfs.py

84 lines
2.4 KiB
Python
Raw Normal View History

import queue
from domain.world import World
class State:
def __init__(self, x, y, direction=(1, 0)):
self.x = x
self.y = y
self.direction = direction
def __hash__(self):
return hash((self.x, self.y))
def __eq__(self, other):
return (self.x == other.x and self.y == other.y
and self.direction == other.direction)
class Node:
def __init__(self, state: State):
self.state = state
self.parent = None
self.action = None
def action_sequence(node: Node):
actions = []
while node.parent:
actions.append(node.action)
node = node.parent
actions.reverse()
return actions
2023-05-01 23:59:15 +02:00
class RotateAndGoBFS:
def __init__(self, world: World, start_state: State, goal_state: State):
self.world = world
self.start_state = start_state
self.goal_state = goal_state
self.fringe = queue.Queue()
self.enqueued_states = set()
self.explored = set()
self.actions = []
def search(self):
self.fringe.put(Node(self.start_state))
while self.fringe:
elem = self.fringe.get()
2023-05-01 23:59:15 +02:00
if self.is_goal(elem.state):
self.actions = action_sequence(elem)
return True
self.explored.add(elem.state)
for (action, state) in self.successors(elem.state):
if state in self.explored or state in self.enqueued_states:
continue
next_node = Node(state)
next_node.action = action
next_node.parent = elem
self.fringe.put(next_node)
self.enqueued_states.add(state)
return False
def successors(self, state: State):
new_successors = [
# rotate right
("RR", State(state.x, state.y, (-state.direction[1], state.direction[0]))),
# rotate left
("RL", State(state.x, state.y, (state.direction[1], -state.direction[0]))),
]
if self.world.accepted_move(state.x + state.direction[0], state.y + state.direction[1]):
2023-05-01 23:59:15 +02:00
new_successors.append(
("GO", State(state.x + state.direction[0], state.y + state.direction[1], state.direction)))
return new_successors
2023-05-01 23:59:15 +02:00
def is_goal(self, state: State) -> bool:
return (
state.x == self.goal_state.x
and state.y == self.goal_state.y
)