Loading AgRobotSwarmForSearch/search.py +76 −29 Original line number Diff line number Diff line Loading @@ -119,6 +119,7 @@ class Simulation: return [n for n in self.sim_graph.neighbors(node)] def expand(self) -> tuple[bool, str]: ### this has grown very badly ### Please rewrite self.current_node = self.chosen self.mark_expansion_step(self.current_node) self.expansion_step += 1 Loading @@ -130,27 +131,73 @@ class Simulation: children = sorted(self.generate_child_nodes(self.current_node)) for child in children: # check if child already in explored or frontier if child in self.explored_set: continue # calculate the path cost g(n) and heuristic values h(n) cost_to_node = self.get_cost_of_current_path() cost_from_node_to_child = self.sim_graph.edges()[ (self.current_node, child) ]["dist"] path_cost = cost_to_node + cost_from_node_to_child heuristic = self.get_heuristic(node=child) # check if cheaper version is available if already in frontier if child in self.frontier_set: # when using BFS or DFS continue without checking if self.search_method == "DFS" or self.search_method == "BFS": continue hist_idx = next( i for i, (*_, v) in enumerate(self.frontier_history["item"]) if v == child ) hist_unsorted_idx = next( i for i, (*_, v) in enumerate(self.frontier_history_unsorted["item"]) if v == child ) if self.search_method == "UCS": if self.frontier_history["cost"][hist_idx] <= path_cost: continue if self.search_method == "GreedyBestFirst": if self.frontier_history["cost"][hist_idx] <= heuristic: continue if self.search_method == "A*": if self.frontier_history["cost"][hist_idx] <= path_cost + heuristic: continue # update entry in frontier_hist self.frontier_history["item"][hist_idx] = (self.current_node, child) self.frontier_history_unsorted["item"][hist_unsorted_idx] = ( self.current_node, child, ) self.frontier_history["avail"][hist_idx] = True self.frontier_history_unsorted["step"][hist_unsorted_idx] = "" self.frontier_history["path_cost"][hist_idx] = path_cost self.frontier_history_unsorted["path_cost"][ hist_unsorted_idx ] = path_cost self.frontier_history["heuristic"][hist_idx] = heuristic self.frontier_history_unsorted["heuristic"][ hist_unsorted_idx ] = heuristic else: # create entry in frontier self.frontier.append((self.current_node, child)) self.frontier_history["item"].append((self.current_node, child)) self.frontier_history_unsorted["item"].append((self.current_node, child)) self.frontier_history_unsorted["item"].append( (self.current_node, child) ) self.frontier_history["avail"].append(True) self.frontier_history_unsorted["step"].append("") # calculate the path cost g(n) and heuristic values h(n) cost_to_node = self.get_cost_of_current_path() cost_from_node_to_child = self.sim_graph.edges()[ (self.current_node, child) ]["dist"] path_cost = cost_to_node + cost_from_node_to_child self.frontier_history["path_cost"].append(path_cost) self.frontier_history_unsorted["path_cost"].append(path_cost) heuristic = self.get_heuristic(node=child) self.frontier_history["heuristic"].append(heuristic) self.frontier_history_unsorted["heuristic"].append(heuristic) Loading Loading
AgRobotSwarmForSearch/search.py +76 −29 Original line number Diff line number Diff line Loading @@ -119,6 +119,7 @@ class Simulation: return [n for n in self.sim_graph.neighbors(node)] def expand(self) -> tuple[bool, str]: ### this has grown very badly ### Please rewrite self.current_node = self.chosen self.mark_expansion_step(self.current_node) self.expansion_step += 1 Loading @@ -130,27 +131,73 @@ class Simulation: children = sorted(self.generate_child_nodes(self.current_node)) for child in children: # check if child already in explored or frontier if child in self.explored_set: continue # calculate the path cost g(n) and heuristic values h(n) cost_to_node = self.get_cost_of_current_path() cost_from_node_to_child = self.sim_graph.edges()[ (self.current_node, child) ]["dist"] path_cost = cost_to_node + cost_from_node_to_child heuristic = self.get_heuristic(node=child) # check if cheaper version is available if already in frontier if child in self.frontier_set: # when using BFS or DFS continue without checking if self.search_method == "DFS" or self.search_method == "BFS": continue hist_idx = next( i for i, (*_, v) in enumerate(self.frontier_history["item"]) if v == child ) hist_unsorted_idx = next( i for i, (*_, v) in enumerate(self.frontier_history_unsorted["item"]) if v == child ) if self.search_method == "UCS": if self.frontier_history["cost"][hist_idx] <= path_cost: continue if self.search_method == "GreedyBestFirst": if self.frontier_history["cost"][hist_idx] <= heuristic: continue if self.search_method == "A*": if self.frontier_history["cost"][hist_idx] <= path_cost + heuristic: continue # update entry in frontier_hist self.frontier_history["item"][hist_idx] = (self.current_node, child) self.frontier_history_unsorted["item"][hist_unsorted_idx] = ( self.current_node, child, ) self.frontier_history["avail"][hist_idx] = True self.frontier_history_unsorted["step"][hist_unsorted_idx] = "" self.frontier_history["path_cost"][hist_idx] = path_cost self.frontier_history_unsorted["path_cost"][ hist_unsorted_idx ] = path_cost self.frontier_history["heuristic"][hist_idx] = heuristic self.frontier_history_unsorted["heuristic"][ hist_unsorted_idx ] = heuristic else: # create entry in frontier self.frontier.append((self.current_node, child)) self.frontier_history["item"].append((self.current_node, child)) self.frontier_history_unsorted["item"].append((self.current_node, child)) self.frontier_history_unsorted["item"].append( (self.current_node, child) ) self.frontier_history["avail"].append(True) self.frontier_history_unsorted["step"].append("") # calculate the path cost g(n) and heuristic values h(n) cost_to_node = self.get_cost_of_current_path() cost_from_node_to_child = self.sim_graph.edges()[ (self.current_node, child) ]["dist"] path_cost = cost_to_node + cost_from_node_to_child self.frontier_history["path_cost"].append(path_cost) self.frontier_history_unsorted["path_cost"].append(path_cost) heuristic = self.get_heuristic(node=child) self.frontier_history["heuristic"].append(heuristic) self.frontier_history_unsorted["heuristic"].append(heuristic) Loading
