Пример #1
0
  public void move(PPP ppp) throws InvalidMoveError {
    Node move_to = this.planned_route.remove(0);
    if ((move_to.getX() == this.getX()) && (move_to.getY() == this.getY())) {
      this.totalStationairyMoves++;
    }

    boolean invalid = false;
    if (ppp.isOccupied(move_to.getX(), move_to.getY())) {
      // Invalid move made!
      invalid = true;
      this.invalidMoves++;
      throw new InvalidMoveError("Invalid move - " + move_to.toString() + " is Occupied\n");
    }
    if (invalid) {
      System.out.println("invalid move beyond throw");
    }

    move_to.incVisits();
    if (this.route_taken.contains(move_to)) {
      this.route_taken.get(this.route_taken.indexOf(move_to)).incVisits();
    }
    this.route_taken.add(move_to);

    short turns =
        (short) (this.state.getStateValue().getTurn() + move_to.turnCost(this.getHeading()));
    short adv = (short) (this.state.getStateValue().getAdvance() + 1);
    short moves = (short) (turns + adv);

    this.state.setStateValue(turns, adv, moves);
    this.state.setAgentState(move_to.getX(), move_to.getY(), move_to.getHeading());
  }
Пример #2
0
  private int evaluatePosition(Node n) {
    // Subsidise nodes which keep the wall on the correct side
    char wallSide = this.keepWallOnSide(n.getHeading());
    // Cost == Cost of about turn - higher encourages cycles
    // Too low encourages movement away from the wall if a turn is required

    int cost = 10;
    switch (wallSide) {
      case 'u':
        if (this.currentMem.occupied(n.getX(), n.getY() - 1)) {
          cost = 0;
        }
        break;
      case 'd':
        if (this.currentMem.occupied(n.getX(), n.getY() + 1)) {
          cost = 0;
        }
        break;
      case 'l':
        if (this.currentMem.occupied(n.getX() - 1, n.getY())) {
          cost = 0;
        }
        break;
      case 'r':
        if (this.currentMem.occupied(n.getX() + 1, n.getY())) {
          cost = 0;
        }
        break;
      default:
        break;
    }

    if (n.isPos(this.getX(), this.getY())) {
      // Discourage not moving
      cost = 100;
    }

    if (this.currentMem.isGoal(n.getX(), n.getY())) {
      // subsidise the goal position
      cost = 0;
    }

    // Intended fault: This bot will happily be trapped in a cycle.
    //		if (this.route_taken.contains(n)){
    //			//Previously been at this position
    //			Node p = this.route_taken.get(this.route_taken.indexOf(n));
    //			p.incVisits();
    //			n.setVisits(p.getVisits());
    //		}
    int c = cost; // +(2*n.getVisits());
    return c;
  }
Пример #3
0
 public ArrayList<Node> getSuccessors(Node n, Memory mem) {
   return this.getSuccessors(n, n.getX(), n.getY(), mem);
 }