slop of code
intermediate push so logan can have access to reset function
This commit is contained in:
Simon O'Shea
@@ -0,0 +1,261 @@
|
||||
using System;
|
||||
using System.Collections;
|
||||
using System.Collections.Generic;
|
||||
using UnityEngine;
|
||||
|
||||
class Node : IComparable<Node>
|
||||
{
|
||||
// helper variables just to make indexing arrays easier to read
|
||||
public static int row = 0;
|
||||
public static int col = 1;
|
||||
|
||||
Node parent;
|
||||
int[] agent;
|
||||
List<int[]> samples;
|
||||
char lastMove; // for output/animation
|
||||
int distanceTraveled; // for calculating f(n) value
|
||||
double heuristic;
|
||||
double fn; // distance traveled + heuristic value
|
||||
bool canSample; // for expansion
|
||||
|
||||
// construct node :)
|
||||
public Node(Node parent, int[] agent, List<int[]> samples, char lastMove, int distanceTraveled, double heuristic)
|
||||
{
|
||||
this.parent = parent;
|
||||
this.agent = agent;
|
||||
this.samples = new ArrayList<int[]>(samples);
|
||||
this.lastMove = lastMove;
|
||||
this.distanceTraveled = distanceTraveled;
|
||||
this.heuristic = heuristic;
|
||||
this.fn = distanceTraveled + heuristic;
|
||||
}
|
||||
|
||||
// determine valid moves and collect children to be sent back to search
|
||||
public List<Node> expand(int depth)
|
||||
{
|
||||
List<Node> children = new ArrayList<Node>();
|
||||
if (this.distanceTraveled >= depth && depth != -1)
|
||||
return children;
|
||||
|
||||
// document expansion of node and get ready to collect this node's children
|
||||
SampleWorld.expansions++;
|
||||
int[] onSample = new int[2];
|
||||
|
||||
// since this state is being currently visited (expanded), put in closed list
|
||||
SampleWorld.closed.add(this.getState());
|
||||
|
||||
////////////////////////////////////
|
||||
// BEGIN CHECKING FOR VALID MOVES //
|
||||
////////////////////////////////////
|
||||
|
||||
// store coordinates for all potential moves to be checked
|
||||
int[] up = { this.agent[row] - 1, this.agent[col] };
|
||||
int[] down = { this.agent[row] + 1, this.agent[col] };
|
||||
int[] left = { this.agent[row], this.agent[col] - 1 };
|
||||
int[] right = { this.agent[row], this.agent[col] + 1 };
|
||||
|
||||
// make sure going up doesn't go outside world-bounds or into obstacle
|
||||
if (isOpen(up))
|
||||
{
|
||||
// if move is valid, create that new node/state and document
|
||||
Node child = new Node(this, up, this.samples, 'U', this.distanceTraveled + 1, this.heuristic);
|
||||
SampleWorld.nodesGenerated++;
|
||||
|
||||
// make sure that we have not already made that move
|
||||
if (!child.getState().inClosed())
|
||||
children.add(child);
|
||||
}
|
||||
|
||||
// same idea but for the different potential moves
|
||||
if (isOpen(down))
|
||||
{
|
||||
Node child = new Node(this, down, this.samples, 'D', this.distanceTraveled + 1, this.heuristic);
|
||||
SampleWorld.nodesGenerated++;
|
||||
|
||||
if (!child.getState().inClosed())
|
||||
children.add(child);
|
||||
}
|
||||
|
||||
if (isOpen(left))
|
||||
{
|
||||
Node child = new Node(this, left, this.samples, 'L', this.distanceTraveled + 1, this.heuristic);
|
||||
SampleWorld.nodesGenerated++;
|
||||
|
||||
if (!child.getState().inClosed())
|
||||
children.add(child);
|
||||
}
|
||||
|
||||
if (isOpen(right))
|
||||
{
|
||||
Node child = new Node(this, right, this.samples, 'R', this.distanceTraveled + 1, this.heuristic);
|
||||
SampleWorld.nodesGenerated++;
|
||||
|
||||
if (!child.getState().inClosed())
|
||||
children.add(child);
|
||||
}
|
||||
|
||||
// CHECK IF CAN SAMPLE
|
||||
onSample = canSample();
|
||||
if (onSample[0] == 1)
|
||||
{
|
||||
Node child = new Node(this, this.agent, this.samples, 'S', this.distanceTraveled + 1, this.heuristic);
|
||||
child.samples.remove(onSample[1]);
|
||||
|
||||
SampleWorld.nodesGenerated++;
|
||||
children.add(child);
|
||||
}
|
||||
|
||||
return children;
|
||||
}
|
||||
|
||||
// helper for expand, verifies whether potential move is legal
|
||||
public boolean isOpen(int[] position)
|
||||
{
|
||||
// check that agent is not trying to move into an obstacle
|
||||
for (int i = 0; i < SampleWorld.obstacles.size(); i++)
|
||||
{
|
||||
if (Arrays.compare(SampleWorld.obstacles.get(i), position) == 0)
|
||||
return false;
|
||||
}
|
||||
|
||||
// check that agent is not stepping out of the world
|
||||
if (!((position[row] >= 0) && (position[row] <= SampleWorld.worldRows - 1) && (position[col] >= 0) && (position[col] <= SampleWorld.worldCols - 1)))
|
||||
return false;
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
// returns the coordinates of the sample closest to the agent's current location
|
||||
public int[] nearestSample()
|
||||
{
|
||||
if (samples.size() == 0)
|
||||
return agent;
|
||||
|
||||
int[] s = samples.get(0);
|
||||
double lowest = distance(agent, samples.get(0));
|
||||
double distance;
|
||||
|
||||
for (int i = 1; i < samples.size(); i++)
|
||||
{
|
||||
distance = distance(agent, samples.get(i));
|
||||
if (distance < lowest)
|
||||
{
|
||||
lowest = distance;
|
||||
s = samples.get(i);
|
||||
}
|
||||
}
|
||||
return s;
|
||||
}
|
||||
// helper function for nearestSample()
|
||||
public static double distance(int[] a, int[] b)
|
||||
{ // _________________________
|
||||
// distance between 2D points = √(y2 - y1)^2 + (x2 - x1)^2
|
||||
double total = (((b[row] - a[row]) * (b[row] - a[row])) + ((b[col] - a[col]) * (b[col] - a[col])));
|
||||
total = Math.sqrt(total);
|
||||
|
||||
return total;
|
||||
}
|
||||
|
||||
// helper function for h2
|
||||
/////////////////////////////
|
||||
// returns two pieces of information if true:
|
||||
// [0] is 1 to indicate agent can sample
|
||||
// [1] is the index of the valid sample in the list
|
||||
public int[] canSample()
|
||||
{
|
||||
// default to false
|
||||
int[] result = new int[2];
|
||||
result[0] = 0;
|
||||
result[1] = -1;
|
||||
|
||||
for (int i = 0; i < this.samples.size(); i++)
|
||||
{
|
||||
if ((this.agent[row] == samples.get(i)[row]) && (this.agent[col] == samples.get(i)[col]))
|
||||
{
|
||||
result[0] = 1;
|
||||
result[1] = i;
|
||||
return result;
|
||||
}
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
||||
// returns only the dynamic information directly related to the Node's state.
|
||||
// we need a way to extract just this information for the sake of our closed list
|
||||
public State getState()
|
||||
{
|
||||
return new State(this.agent, this.samples);
|
||||
}
|
||||
|
||||
// we use to override comparisons for priorityQueues so that our heuristic calculations are actually used
|
||||
@Override
|
||||
public int compareTo(Node other)
|
||||
{
|
||||
if (this.fn > other.fn)
|
||||
return 1;
|
||||
else
|
||||
return -1;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
// helper class for Node
|
||||
class NodeComparator implements Comparator<Node>
|
||||
{
|
||||
// used to sort nodes based on sum of distance traveled + heuristic estimation of work left
|
||||
@Override
|
||||
public int compare(Node a, Node b)
|
||||
{
|
||||
if (a.fn > b.fn)
|
||||
return 1;
|
||||
else
|
||||
return -1;
|
||||
}
|
||||
}
|
||||
// helper class for Node
|
||||
class State
|
||||
{
|
||||
int[] agent;
|
||||
int[][] samples;
|
||||
|
||||
public State(int[] agent, List<int[]> samples)
|
||||
{
|
||||
this.agent = agent;
|
||||
this.samples = new int[samples.size()][];
|
||||
|
||||
// convert List<int[]> into 2D array of ints [][]
|
||||
for (int i = 0; i < samples.size(); i++)
|
||||
{
|
||||
this.samples[i] = samples.get(i).clone();
|
||||
}
|
||||
}
|
||||
|
||||
public boolean inClosed()
|
||||
{
|
||||
for (int i = 0; i < SampleWorld.closed.size(); i++)
|
||||
{
|
||||
if (this.equals(SampleWorld.closed.get(i)))
|
||||
{
|
||||
return true;
|
||||
}
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
public boolean equals(State other)
|
||||
{
|
||||
if (this.samples.length != other.samples.length)
|
||||
return false;
|
||||
|
||||
if (Arrays.compare(this.agent, other.agent) != 0)
|
||||
return false;
|
||||
|
||||
for (int i = 0; i < this.samples.length; i++)
|
||||
{
|
||||
if (Arrays.compare(this.samples[i], other.samples[i]) != 0)
|
||||
return false;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user