bfs.py

@@ -9,10 +9,12 @@ from turnCar import turn_left_orientation, turn_right_orientation
 class Succ:
     state: AgentState
     action: AgentActionType
+    cost: int
 
     def __init__(self, state: AgentState, action: AgentActionType) -> None:
         self.state = state
         self.action = action
+        self.cost = cost
 
 def find_path_to_nearest_can(startState: AgentState, grid: Dict[Tuple[int, int], GridCellType]) -> list[AgentActionType]:
     q: Queue[list[Succ]] = Queue()
@@ -88,6 +90,12 @@ def is_state_success(state: AgentState, grid: Dict[Tuple[int, int], GridCellType
     except:
         return False
 
+def get_cost_for_cell_type(cell_type: GridCellType) -> int:
+    if cell_type == GridCellType.SPEED_BUMP:
+        return 10
+    else:
+        return 1
+
 def is_state_valid(state: AgentState, grid: Dict[Tuple[int, int], GridCellType]) -> bool:
     try: 
         return grid[state.position] == GridCellType.STREET_HORIZONTAL or grid[state.position] == GridCellType.STREET_VERTICAL or grid[state.position] == GridCellType.SPEED_BUMP

city.py

@@ -2,19 +2,7 @@ from typing import List
 from garbageCan import GarbageCan
 from speedBump import SpeedBump
 from street import Street
-from gameContext import GameContext
-
-class Node:
-    garbageCan: GarbageCan
-    speedBump: SpeedBump
-    id: int
-
-    def __init__(self, id: int, can: GarbageCan, bump: SpeedBump) -> None:
-        self.id 
-        self.can = can 
-        self.bump = bump
-
-        
+from gameContext import GameContext        
         
 class City:
     nodes: List[GarbageCan]