def __init__(self, unique_id, radius, field_width, field_height, velocity, rng, probability):
Cyclic_Drone.__init__(self, unique_id, radius, field_width, field_height, velocity, rng)
Cyclic_Drone.create_cycle(self)
self.probability = probability
self.back_goal = None
self.backtrack = False
self.on_path = False
self.strategy = 'random-tsp'
def set_next_goal(self):
adjacent = []
for point in self.cycle:
if self.x == point[0] and abs(self.y - point[1]) == (self.rng + 2)*2 and point != self.goal:
adjacent.append(point)
if self.y == point[1] and abs(self.x - point[0]) == (self.rng + 2)*2 and point != self.goal:
adjacent.append(point)
self.goal = random.choice(adjacent)
Cyclic_Drone.set_directions(self)
def set_next_goal(self):
if self.index == 0:
self.index += 1
self.backwards = False
elif self.backwards == True:
self.index -= 1
elif self.index >= len(self.cycle) - 1:
self.backwards = True
self.index -= 1
else:
self.index += 1
self.goal = self.cycle[self.index]
Cyclic_Drone.set_directions(self)
def update(self, time):
Drone.update(self)
if Cyclic_Drone.check_reached_goal(self):
if self.backtrack == True:
self.backtrack = False
self.goal = self.original_position
self.on_path = True
Cyclic_Drone.set_directions(self)
elif self.on_path == True:
self.on_path = False
self.goal = self.back_goal
Cyclic_Drone.set_directions(self)
elif random.random() < self.probability:
Cyclic_Drone.set_next_goal(self)
self.back_goal = self.goal
self.original_position = (self.x, self.y)
self.backtrack = True
self.set_next_goal()
else:
Cyclic_Drone.set_next_goal(self)
def __init__(self, unique_id, radius, field_width, field_height, velocity, rng):
Cyclic_Drone.__init__(self, unique_id, radius, field_width, field_height, velocity, rng)
Cyclic_Drone.create_cycle(self)
self.backwards = False
self.strategy = 'partition'
