Przyrost 2
This commit is contained in:
Vadzim Valchkovich
parent
71fcd755aa
commit
d6a8a7481e
@ -31,7 +31,7 @@
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---
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- [ ] Planowanie ruchu: Wymagania dot. drugiego przyrostu
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- [ ] **Planowanie ruchu: Wymagania dot. drugiego przyrostu**
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- [ ] Należy wykorzystać „Schemat procedury przeszukiwania grafu stanów z uwzględnieniem kosztu“
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- [ ] Należy zaimplementować strategię A\*, czyli zdefiniować funkcję wyznaczającą priorytet następników uwzględniającą zarówno koszt jak i odpowiednią heurystykę.
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- [x] Agent powinien dysponować co najmniej następującymi akcjami: ruch do przodu, obrót w lewo, obrót w prawo.
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@ -40,3 +40,9 @@
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> _Przykład: Koszt wjazdu traktora na pole marchewek to 10 a koszt wjazdu na pole puste to 1._
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---
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- [ ] **Drzewa decyzyjne: wymagania dot. trzeciego przyrostu**
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- [ ] Należy wykorzystać algorytm ID3 (tj. schemat indukcyjnego uczenia drzewa decyzyjnego oraz procedurę wyboru atrybutu o największym przyroście informacji) lub któreś z jego uogólnień.
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- [ ] Należy przygotować zbiór uczący złożony z co najmniej 200 przykładów.
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- [ ] Decyzja stanowiąca cel uczenia powinna zostać opisana przynajmniej ośmioma atrybutami.
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- [ ] Powinna pojawić się opcja podglądu wyuczonego drzewa (np. w logach lub w pliku z graficzną reprezentacją drzewa).
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30
agent.py
30
agent.py
@ -1,3 +1,4 @@
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import random
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from src.Engine import Engine
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from src.obj.Waiter import Waiter
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from src.obj.Block import Block
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@ -6,20 +7,31 @@ from src.obj.Table import Table
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from src.UserController import UserController
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from src.StateController import StateController
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waiter = Waiter([0, 0], 0, 50, 450//50)
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SCREEN_SIZE = (800, 800)
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SQUARE_SIZE = 40
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waiter = Waiter([0, 0], 0, SQUARE_SIZE, SCREEN_SIZE)
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objects = [
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Kitchen([0, 0], 0, 50, 450//50),
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Table([3, 6], 0, 50, 450//50),
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Table([2, 4], 0, 50, 450//50),
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Table([1, 5], 0, 50, 450//50),
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Block([3, 5], 0, 50, 450//50),
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Block([1, 4], 0, 50, 450//50),
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Block([2, 5], 0, 50, 450//50)
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Kitchen([0, 0], 0, SQUARE_SIZE, SCREEN_SIZE)
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]
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for i in range(150):
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pos = [0, 0]
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while any([o.compare_pos(pos) for o in objects]):
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pos = [random.randint(1, SCREEN_SIZE[0]/SQUARE_SIZE),
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random.randint(1, SCREEN_SIZE[0]/SQUARE_SIZE)]
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if (random.randint(0, 1)):
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objects.append(Block(pos, 0, SQUARE_SIZE, SCREEN_SIZE))
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else:
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objects.append(Table(pos, 0, SQUARE_SIZE,
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SCREEN_SIZE, random.randint(0, 3)))
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user = UserController(waiter)
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state = StateController(waiter)
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engine = Engine((450, 450), 50, user, state)
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engine = Engine(SCREEN_SIZE, SQUARE_SIZE, user, state)
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for o in objects:
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engine.subscribe(o)
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@ -1,3 +1,4 @@
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import time
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import pygame
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from .obj.Object import Object
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from .UserController import UserController
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@ -7,6 +8,8 @@ from .StateController import StateController
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class Engine:
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def __init__(self, screen_size, square_size, user: UserController, state: StateController):
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pygame.display.set_caption('Waiter Agent')
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self.user = user
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self.state = state
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self.screen_size = screen_size
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@ -18,6 +21,7 @@ class Engine:
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self.num_squares, self.square_size)
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self.objects: list[Object] = []
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self.goals: list = []
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self.runnin = False
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@ -48,19 +52,18 @@ class Engine:
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self.running = False
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def action(self):
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if not self.state.path:
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if self.goals:
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self.state.graphsearch(self)
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self.user.handler(self)
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conditionals = [
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not self.user.obj.collide_test(self.user.obj),
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all([not o.collide_test(self.user.obj) for o in self.objects])
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]
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if all(conditionals):
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self.user.obj.dampState()
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else:
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self.user.obj.rollbackState()
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self.user.obj.goal_test(self)
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state = self.user.obj.changeState(self.state.path.pop())
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print("Action:\t{0}\tCost:\t{1}\tCost so far: {2}".format(
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state.agent_role,
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state.cost,
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state.cost_so_far)
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)
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time.sleep(0.5)
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def redraw(self):
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self.screen.fill((255, 255, 255))
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@ -74,7 +77,13 @@ class Engine:
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self.user.obj.blit(self.screen)
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for f in self.state.fringe.queue:
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f.blit(self.screen)
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for s in self.state.path:
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s.blit(self.screen)
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pygame.display.flip()
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def appendGoalPosition(self, position):
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self.goals.append(position)
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@ -1,37 +1,45 @@
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from .obj.TemporaryState import TemporaryState
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from queue import PriorityQueue
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class StateController:
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def __init__(self, istate):
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self.path = []
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self.explored = []
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self.fringe = []
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self.fringe = PriorityQueue()
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self.istate = istate
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self.goal = istate.position
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def reset(self):
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self.path.clear()
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self.explored.clear()
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self.fringe.clear()
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self.fringe = PriorityQueue()
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def build_path(self, goal_state):
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total_cost = goal_state.cost
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self.path.append(goal_state)
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while self.path[-1].agent_role != "blank":
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while self.path[-1].parent.agent_role != "blank":
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self.path.append(self.path[-1].parent)
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total_cost += self.path[-1].cost
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print("Total path cost:\t{0}".format(total_cost))
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return self.path
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def graphsearch(self, engine): # BFS
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def graphsearch(self, engine): # A*
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print("Search path")
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self.goal = list(engine.goals.pop())
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self.reset()
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self.fringe.append(TemporaryState(self.istate))
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start = TemporaryState(self.istate, 0)
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while self.fringe:
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self.explored.append(self.fringe.pop(0))
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self.fringe.put(start)
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if self.explored[-1].goal_test(engine):
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print("Goal!")
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while self.fringe and not self.path:
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self.explored.append(self.fringe.get())
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if self.explored[-1].position == self.goal:
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goal_state = self.explored[-1]
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self.reset()
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return self.build_path(goal_state)
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@ -40,7 +48,6 @@ class StateController:
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self.succ(self.explored[-1].left(), engine)
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self.succ(self.explored[-1].right(), engine)
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self.path = self.fringe
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engine.redraw()
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self.reset()
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@ -57,4 +64,29 @@ class StateController:
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elif any([o.collide_test(state) for o in engine.objects]):
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return
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self.fringe.append(state)
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for o in engine.objects:
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if state.cost != 1:
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break
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if o.position == state.position:
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state.change_cost(o)
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state.cost_so_far = self.explored[-1].cost_so_far + state.cost
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in_explored = any([state.compare(s) for s in self.explored]
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)
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in_frige = any([state.compare(f) for f in self.fringe.queue])
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if not in_explored and not in_frige:
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state.heuristic(self.goal)
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self.fringe.put(state)
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elif in_frige:
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fringe = state
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for f in self.fringe.queue:
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if state.compare(f):
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fringe = f
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break
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if state.cost_so_far < fringe.cost_so_far:
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fringe.replace(state)
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@ -9,12 +9,8 @@ class UserController:
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for event in pygame.event.get():
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if event.type == pygame.QUIT:
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engine.quit()
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elif event.type == pygame.KEYDOWN:
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if event.key == pygame.K_UP:
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self.obj.front()
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elif event.key == pygame.K_LEFT:
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self.obj.left()
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elif event.key == pygame.K_RIGHT:
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self.obj.right()
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elif event.key == pygame.K_SPACE:
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engine.state.graphsearch(engine)
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elif event.type == pygame.MOUSEBUTTONDOWN:
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pos = pygame.mouse.get_pos()
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pos = (pos[0] // engine.square_size,
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pos[1] // engine.square_size)
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engine.appendGoalPosition(pos)
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@ -2,8 +2,8 @@ from src.obj.Object import Object
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class Block(Object):
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def __init__(self, position, orientation, square_size, square_count):
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super().__init__("block", position, orientation, square_size, square_count)
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def __init__(self, position, orientation, square_size, screen_size):
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super().__init__("block", position, orientation, square_size, screen_size)
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def collide_test(self, waiter: Object) -> bool:
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return waiter.position == self.position
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@ -2,19 +2,5 @@ from src.obj.Object import Object
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class Kitchen(Object):
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def __init__(self, position, orientation, square_size, square_count):
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super().__init__("kitchen", position, orientation, square_size, square_count)
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def goal_test(self, waiter) -> bool:
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conditions = [
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waiter.orders_in_basket(),
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self.position == waiter.position
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]
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if all(conditions):
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for table in waiter.basket:
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if table.agent_role == "wait":
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table.next_role(waiter)
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return True
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return False
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def __init__(self, position, orientation, square_size, screen_size):
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super().__init__("kitchen", position, orientation, square_size, screen_size)
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@ -2,12 +2,13 @@ import pygame
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class Object:
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def __init__(self, agent_role, position, orientation, square_size, square_count):
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def __init__(self, agent_role, position, orientation, square_size, screen_size):
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self.agent_role = agent_role
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self.position = position
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self.orientation = orientation % 4
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self.square_size = square_size
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self.square_count = square_count
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self.screen_size = screen_size
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self.square_count = screen_size[0] // square_size
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self.image = pygame.image.load(
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'src/img/{0}.png'.format(self.agent_role))
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@ -37,11 +38,11 @@ class Object:
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def collide_test(self, obj) -> bool:
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return False
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def goal_test(self, waiter) -> bool:
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return False
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def blit(self, screen: pygame.Surface):
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image = pygame.transform.rotate(self.image, self.get_angle())
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self.rect.x = self.position[0] * self.square_size
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self.rect.y = self.position[1] * self.square_size
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screen.blit(image, self.rect)
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def compare_pos(self, pos) -> bool:
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return self.position == pos
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@ -2,8 +2,8 @@ from src.obj.Object import Object
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class Table(Object):
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def __init__(self, position, orientation, square_size, square_count, current_role=1):
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super().__init__("table", position, orientation, square_size, square_count)
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def __init__(self, position, orientation, square_size, screen_size, current_role=0):
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super().__init__("table", position, orientation, square_size, screen_size)
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self.roles = ["table", "order", "wait", "done"]
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self.current_role = current_role
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self.change_role(self.roles[self.current_role])
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@ -12,13 +12,3 @@ class Table(Object):
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if waiter.agent_role == "waiter":
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self.current_role = (self.current_role + 1) % 4
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self.change_role(self.roles[self.current_role])
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def goal_test(self, waiter) -> bool:
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if self.position == waiter.position:
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if self.agent_role == "order":
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return waiter.take_order(self)
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elif self.agent_role == "done":
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return waiter.drop_order(self)
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return False
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@ -3,15 +3,24 @@ import copy
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class TemporaryState(Waiter):
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def __init__(self, parent, action="blank"):
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def __init__(self, parent, cost_so_far, action="blank", cost=0, h=0):
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super().__init__(copy.deepcopy(parent.position),
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copy.copy(parent.orientation),
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copy.copy(parent.square_size),
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copy.copy(parent.square_count),
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copy.copy(parent.screen_size),
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copy.copy(parent.basket))
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self.agent_role = action
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self.parent = parent
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self.change_role(action)
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self.apply_transformation()
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self.cost = cost
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self.cost_so_far = cost_so_far
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self.h = h
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def replace(self, repl):
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self.basket = copy.copy(repl.basket)
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self.parent = repl.parent
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self.cost_so_far = repl.cost_so_far
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def apply_transformation(self):
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if self.agent_role == "left":
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@ -25,13 +34,13 @@ class TemporaryState(Waiter):
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self.position[1] += self.orientation - 1 # y (-1 or +1)
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def left(self):
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return TemporaryState(self, "left")
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return TemporaryState(self, self.cost_so_far, "left", 1)
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def right(self):
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return TemporaryState(self, "right")
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return TemporaryState(self, self.cost_so_far, "right", 1)
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def front(self):
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return TemporaryState(self, "front")
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return TemporaryState(self, self.cost_so_far, "front", 1)
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def collide_test(self) -> bool:
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out_of_range = [
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@ -49,3 +58,45 @@ class TemporaryState(Waiter):
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self.orientation == state.orientation
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]
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return all(conditions)
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def change_cost(self, obj):
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self.cost = 1 # default cost
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if self.agent_role == "front":
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costs = {
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"kitchen": 5,
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"table": 5,
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"order": 20,
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"wait": 10,
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"done": 15,
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}
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if obj.agent_role in costs.keys():
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self.cost = costs[obj.agent_role]
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def heuristic(self, goal):
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x = abs(self.position[0] - goal[0])
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y = abs(self.position[1] - goal[1])
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self.h = x + y
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return self.h
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def current_cost(self):
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return self.cost_so_far + self.h
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def __eq__(self, __value) -> bool:
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return self.current_cost() == __value.current_cost()
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def __lt__(self, __value) -> bool:
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return self.current_cost() < __value.current_cost()
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def __le__(self, __value) -> bool:
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return self.current_cost() <= __value.current_cost()
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def __gt__(self, __value) -> bool:
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return self.current_cost() > __value.current_cost()
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def __ge__(self, __value) -> bool:
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return self.current_cost() >= __value.current_cost()
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@ -3,13 +3,19 @@ from src.obj.Object import Object
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class Waiter(Object):
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def __init__(self, position, orientation, square_size, square_count, basket=[]):
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super().__init__("waiter", position, orientation, square_size, square_count)
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def __init__(self, position, orientation, square_size, screen_size, basket=[]):
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super().__init__("waiter", position, orientation, square_size, screen_size)
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self.basket_size = 2
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self.basket = basket
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self.prev_position = copy.deepcopy(self.position)
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self.prev_orientation = copy.copy(self.orientation)
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def changeState(self, state):
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self.position = copy.deepcopy(state.position)
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self.orientation = copy.copy(state.orientation)
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self.basket = copy.copy(state.basket)
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return state
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def dampState(self):
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self.prev_position = copy.deepcopy(self.position)
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self.prev_orientation = copy.copy(self.orientation)
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@ -18,21 +24,6 @@ class Waiter(Object):
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self.position = copy.deepcopy(self.prev_position)
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self.orientation = copy.copy(self.prev_orientation)
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def take_order(self, table) -> bool:
|
||||
if table.agent_role == "order":
|
||||
if len(self.basket) < self.basket_size:
|
||||
table.next_role(self)
|
||||
self.basket.append(table)
|
||||
return True
|
||||
return False
|
||||
|
||||
def drop_order(self, table) -> bool:
|
||||
if table.agent_role == "done":
|
||||
self.basket.remove(table)
|
||||
table.next_role(self)
|
||||
return True
|
||||
return False
|
||||
|
||||
def orders_in_basket(self) -> bool:
|
||||
return self.basket
|
||||
|
||||
@ -57,6 +48,3 @@ class Waiter(Object):
|
||||
]
|
||||
|
||||
return any(out_of_range)
|
||||
|
||||
def goal_test(self, engine):
|
||||
return any([o.goal_test(self) for o in engine.objects])
|
||||
|
||||
Loading…
Reference in New Issue
Block a user