def main():
seed()
steps = []
stepsSlow = []
for i in range(1):
width = randrange(33, 33 + 1)
height = randrange(33, 33 + 1)
bomb_x = randrange(0, width)
bomb_y = randrange(0, height)
robots = []
grid = Grid(width, height)
grid.init_bomb(bomb_x, bomb_y, 10)
for i in range(0, 3):
temp = Robot(i, grid, [0, int(i * height / 3)], False)
robots.append(temp)
controller = RobotController(grid, robots, False, True)
controller.print_grid = False
temp = controller.go()
steps.append(temp)
x_bar = steps[0]
# sigma = stdev(steps, x_bar)
print('Phylogenetic Algorithm')
print('----------------------')
print('Mean Steps: ', x_bar)
def single():
"""
Single runs a single run with no graphics.
You can configure each parameter with the menu system
:return: None
"""
choice = input('Brute Force (1) or Phylogenetic(2): ')
temp = int(choice)
slow = False
if temp == 1:
slow = True
choice = input('Enter the Grid Width : ')
width = int(choice)
choice = input('Grid Height : ')
height = int(choice)
choice = input('Enter the Bomb Location in X: ')
bomb_x = int(choice)
choice = input('in Y: ')
bomb_y = int(choice)
choice = input('Enter the number of robots: ')
num_robots = int(choice)
choice = input('Use Kriging to Guess 1 Yes 2 No: ')
temp = int(choice)
guess = True
if temp == 2:
guess = False
choice = input('Print Grid 1 Yes 2 No: ')
temp = int(choice)
print_grid = False
if temp == 1:
print_grid = True
robots = []
choice = input('EM Grid 1 Yes 2 No: ')
temp = int(choice)
grid = Grid(width, height)
if temp == 1:
grid = EmGrid(width, height)
grid.init_bomb(bomb_x, bomb_y, 10)
print(grid)
for i in range(0, num_robots):
starting_x = 0
direction = 1
if i % 2 == 1:
starting_x = width - 1
direction = -1
temp = Robot(i, grid, [starting_x, int(i * height / num_robots)], slow)
temp.row_direction = direction
temp.x_direction = direction
robots.append(temp)
controller = RobotController(grid, robots, False, True, guess)
controller.print_grid = print_grid
controller.go()
def single_with_graphics():
"""
Runs a single run with graphics.
You can configure each parameter with the menu system
:return: None
"""
choice = input('Brute Force (1) or Phylogenic(2): ')
temp = int(choice)
slow = False
if temp == 1:
slow = True
choice = input('Enter the Grid Width : ')
width = int(choice)
choice = input('Grid Height : ')
height = int(choice)
choice = input('Enter the Bomb Location in X: ')
bomb_x = int(choice)
choice = input('in Y: ')
bomb_y = int(choice)
choice = input('Enter the number of robots: ')
num_robots = int(choice)
robots = []
grid = Grid(width, height)
grid.init_bomb(bomb_x, bomb_y, 10)
for i in range(0, num_robots):
starting_x = 0
direction = 1
if i % 2 == 1:
starting_x = width - 1
direction = -1
temp = Robot(i, grid, [starting_x, int(i * height / num_robots)], slow)
temp.row_direction = direction
temp.x_direction = direction
robots.append(temp)
controller = RobotController(grid, robots, True, True)
controller.print_grid = False
controller.go()
def main():
seed()
steps = []
stepsSlow = []
for i in range(1, 11):
width = i * 100
height = i * 100
bomb_x = randrange(0, width)
bomb_y = randrange(0, height)
robots = []
grid = Grid(width, height)
grid.init_bomb(bomb_x, bomb_y, 10)
for i in range(0, 2):
temp = Robot(i, grid, [0, int(i * height / 2)], False)
robots.append(temp)
controller = RobotController(grid, robots, False, False)
tempFast = controller.go()
steps.append(tempFast)
robotsSlow = []
gridSlow = Grid(width, height)
gridSlow.init_bomb(bomb_x, bomb_y, 10)
for j in range(0, 2):
temp = Robot(j, gridSlow, [0, int(j * height / 2)], True)
robotsSlow.append(temp)
controllerSlow = RobotController(gridSlow, robotsSlow, False, False)
tempSlow = controllerSlow.go()
stepsSlow.append(tempSlow)
print(width, 'x', height, tempFast, 'vs', tempSlow,
str("%.1f" % (tempSlow / tempFast)))
print(str("%.1f Steps Per Cell" % (tempFast / width)))
print(str("%.1f Steps Per Cell" % (tempSlow / width)))
x_bar = mean(steps)
sigma = stdev(steps, x_bar)
print('Phylogenetic Algorithm')
print('----------------------')
print('Mean Steps: ', x_bar)
print('Std Dev Steps: ', sigma)
x_barSlow = mean(stepsSlow)
sigmaSlow = stdev(stepsSlow, x_barSlow)
print()
print('Brute Force')
print('----------------------')
print('Mean Steps: ', x_barSlow)
print('Std Dev Steps: ', sigmaSlow)
print(x_barSlow / x_bar, 'Increase')
def main():
seed()
steps = []
stepsSlow = []
for i in range(1):
width = randrange(16, 25)
height = randrange(16, 25)
bomb_x = randrange(0, width)
bomb_y = randrange(0, height)
robots = []
grid = Grid(width, height)
grid.init_bomb(bomb_x, bomb_y, 10)
for i in range(0, 2):
temp = Robot(i, grid, [0, int(i * height / 2)], False)
robots.append(temp)
controller = RobotController(grid, robots, True, True)
temp = controller.go()
steps.append(temp)
robotsSlow = []
gridSlow = Grid(width, height)
gridSlow.init_bomb(bomb_x, bomb_y, 10)
for j in range(0, 2):
temp = Robot(j, grid, [0, int(j * height / 2)], True)
robotsSlow.append(temp)
controllerSlow = RobotController(gridSlow, robotsSlow, True, True)
tempSlow = controllerSlow.go()
stepsSlow.append(tempSlow)
x_bar = steps[0]
# sigma = stdev(steps, x_bar)
print('Phylogenetic Algorithm')
print('----------------------')
print('Mean Steps: ', x_bar)
# print('Std Dev Steps: ', sigma)
x_barSlow = stepsSlow[0]
# sigmaSlow = stdev(stepsSlow, x_barSlow)
print()
print('Brute Force')
print('----------------------')
print('Mean Steps: ', x_barSlow)
# print('Std Dev Steps: ', sigmaSlow)
print(x_barSlow / x_bar, 'Increase')
def __init__(self, grid, robots, ui=True, asci=True, guess=True):
self.id = id
self.grid = grid
self.MAX_STEPS = grid.width * grid.height
self.heat_map = Grid(grid.width, grid.height)
self.estimate_generator = EstimateGenerator(self.heat_map, self.grid.bomb_location)
self.robots = robots
self.steps = 0
self.interval_steps = 0
self.ui = ui
self.ascii = asci
self.done = False
self.estimates = []
self.diff = 0
self.print_grid = False
self.print_all_estimates = False
self.guess = guess
self.best_z = []
self.last_z = []
# self.interval = max([int((grid.width * grid.height) / 250), 3])
self.interval = 3
if self.ui:
self.graphics = Graphics(self.heat_map, self.robots)
return True
return True
def get_estimate(self, x, y):
self.calculate_prediction_point(x, y)
self.calculate_sv_pp()
if self.calculate_weights():
self.calculate_z()
return [self.pp_z, self.pp_error]
else:
return []
if __name__ == "__main__":
np.set_printoptions(linewidth=300, precision=1)
heat_map = Grid(16, 16)
heat_map.init_bomb(3, 3, 10)
heat_map.cells[3][3] = 0
# heat_map.cells[0][0] = 1
# heat_map.cells[1][0] = 2
# heat_map.cells[2][0] = 4
# heat_map.cells[0][1] = 5
# heat_map.cells[0][2] = 6
# heat_map.cells[2][2] = 27
for x in range(16, 32):
for y in range(16, 32):
heat_map = Grid((x), (y))
bombX = int(heat_map.width / 2)
bombY = int(heat_map.height / 2)
heat_map.init_bomb(bombX, bombY)
def mc_no_kriging():
"""
Runs a number of iterations of each of the 4 algorithm
combinations. No graphics and no output.
You can configure each parameter with the menu system
:return: Writes out a CSV File of results for each run
"""
min_width = 0
min_height = 0
max_width = 0
max_height = 0
steps_bf = []
steps_bf_k = []
steps_ph = []
steps_ph_k = []
choice = input('Do you want to Vary Grid Size (Y/N): ')
if choice == 'Y' or choice == 'y':
choice = input('Minimum Grid Width : ')
min_width = int(choice)
choice = input('Maximum Grid Width : ')
max_width = int(choice)
choice = input('Minimum Grid Height : ')
min_height = int(choice)
choice = input('Maximum Grid Height : ')
max_height = int(choice)
else:
choice = input('Grid Width : ')
min_width = int(choice)
max_width = min_width + 1
choice = input('Grid Height : ')
min_height = int(choice)
max_height = min_height + 1
vary_bomb = False
bomb_x = 0
bomb_y = 0
choice = input('Do you want to Vary Bomb Location (Y/N): ')
if choice == 'Y' or choice == 'y':
vary_bomb = True
else:
vary_bomb = False
choice = input('Enter the Bomb Location in X: ')
bomb_x = int(choice)
choice = input('in Y: ')
bomb_y = int(choice)
choice = input('Enter the number of robots: ')
num_robots = int(choice)
robots = []
choice = input('Number of Iterations: ')
iterations = int(choice)
choice = input('File To Save Results (default is 100by100.csv): ')
filename = choice
if filename == '':
filename = '100by100.csv'
with open(filename, 'w', newline='') as csvfile:
csvwriter = csv.writer(csvfile,
delimiter=',',
quotechar='|',
quoting=csv.QUOTE_MINIMAL)
header = [
'Algorithm', 'Kriging', 'Grid Width', 'Grid Height',
'Bomb X Location', 'Bomb Y Location', 'Number of Robots', 'Steps'
]
csvwriter.writerow(header)
seed()
for iteration in range(iterations):
width = randrange(min_width, max_width)
height = randrange(min_height, max_height)
if vary_bomb:
bomb_x = randrange(0, width)
bomb_y = randrange(0, height)
grid = Grid(width, height)
grid.init_bomb(bomb_x, bomb_y, 10)
robots_bf = []
for i in range(0, num_robots):
temp = Robot(i, grid, [0, int(i * height / num_robots)], True)
robots_bf.append(temp)
controller = RobotController(grid, robots_bf, False, False, False)
temp = controller.go()
steps_bf.append(temp[0])
print('BF Iteration', iteration)
list = [
'BF', 'No', width, height, bomb_x, bomb_y, num_robots, temp
]
csvwriter.writerow(list)
robots_ph = []
for i in range(0, num_robots):
temp = Robot(i, grid, [0, int(i * height / num_robots)], False)
robots_ph.append(temp)
controller = RobotController(grid, robots_ph, False, False, False)
temp = controller.go()
steps_ph.append(temp[0])
print('PH Iteration', iteration)
list = [
'PH', 'No', width, height, bomb_x, bomb_y, num_robots, temp
]
csvwriter.writerow(list)
x_bar_bf = mean(steps_bf)
sigma_bf = stdev(steps_bf, x_bar_bf)
print()
print('Brute Force')
print('----------------------')
print('Mean Steps: ', x_bar_bf)
print('Std Dev Steps: ', sigma_bf)
x_bar_ph = mean(steps_ph)
sigma_ph = stdev(steps_ph, x_bar_ph)
print()
print('Phylogenetic')
print('----------------------')
print('Mean Steps: ', x_bar_ph)
print('Std Dev Steps: ', sigma_ph)
def mc():
"""
Runs a number of iterations of each of the 4 algorithm
combinations. No graphics and no output.
You can configure each parameter with the menu system
:return: Writes out a CSV File of results for each run
"""
min_width = 0
min_height = 0
max_width = 0
max_height = 0
steps_bf = []
steps_bf_k = []
steps_ph = []
steps_ph_k = []
choice = input('Do you want to Vary Grid Size (Y/N): ')
if choice == 'Y' or choice == 'y':
choice = input('Minimum Grid Width : ')
min_width = int(choice)
choice = input('Maximum Grid Width : ')
max_width = int(choice)
choice = input('Minimum Grid Height : ')
min_height = int(choice)
choice = input('Maximum Grid Height : ')
max_height = int(choice)
else:
choice = input('Grid Width : ')
min_width = int(choice)
max_width = min_width + 1
choice = input('Grid Height : ')
min_height = int(choice)
max_height = min_height + 1
vary_bomb = False
bomb_x = 0
bomb_y = 0
choice = input('Do you want to Vary Bomb Location (Y/N): ')
if choice == 'Y' or choice == 'y':
vary_bomb = True
else:
vary_bomb = False
choice = input('Enter the Bomb Location in X: ')
bomb_x = int(choice)
choice = input('in Y: ')
bomb_y = int(choice)
choice = input('Enter the number of robots: ')
num_robots = int(choice)
robots = []
choice = input('Number of Iterations: ')
iterations = int(choice)
filename = str(min_width) + 'by' + str(min_height) + '.csv'
choice = input('File To Save Results (default is ' + filename + '): ')
if choice is not '':
filename = choice
with open(filename, 'w', newline='') as csvfile:
csvwriter = csv.writer(csvfile,
delimiter=',',
quotechar='|',
quoting=csv.QUOTE_MINIMAL)
header = [
'Algorithm', 'Kriging', 'Grid Width', 'Grid Height',
'Bomb X Location', 'Bomb Y Location', 'Number of Robots', 'Steps',
'Finish', 'Best Bomb Guess X', 'Best Bomb Guess Y',
'Guess at Step', 'Last Bomb Guess X', 'Last Bomb Guess Y'
]
csvwriter.writerow(header)
seed()
for iteration in range(iterations):
width = randrange(min_width, max_width)
height = randrange(min_height, max_height)
if vary_bomb:
bomb_x = randrange(0, width)
bomb_y = randrange(0, height)
grid = Grid(width, height)
grid.init_bomb(bomb_x, bomb_y, 10)
print('Bomb at', bomb_x, bomb_y)
robots_bf = []
for i in range(0, num_robots):
starting_x = 0
direction = 1
if i % 2 == 1:
starting_x = width - 1
direction = -1
temp = Robot(
i, grid,
[starting_x, int(i * height / num_robots)], True)
temp.row_direction = direction
temp.x_direction = direction
robots_bf.append(temp)
controller = RobotController(grid, robots_bf, False, False, False)
temp = controller.go()
steps_bf.append(temp[0])
print('BF Iteration', iteration)
name = 'BF'
kriging = 'No'
steps = temp[0]
finished = temp[1]
if len(temp[2]) >= 5:
best_bomb_guess_x = temp[2][0]
best_bomb_guess_y = temp[2][1]
guess_at_step = temp[2][4]
else:
best_bomb_guess_x = ''
best_bomb_guess_y = ''
guess_at_step = ''
if len(temp[3]) >= 2:
last_bomb_guess_x = temp[3][0]
last_bomb_guess_y = temp[3][1]
else:
last_bomb_guess_x = ''
last_bomb_guess_y = ''
list = [
name, kriging, width, height, bomb_x, bomb_y, num_robots,
steps, finished, best_bomb_guess_x, best_bomb_guess_y,
guess_at_step, last_bomb_guess_x, last_bomb_guess_y
]
csvwriter.writerow(list)
robots_bf_k = []
for i in range(0, num_robots):
starting_x = 0
direction = 1
if i % 2 == 1:
starting_x = width - 1
direction = -1
temp = Robot(
i, grid,
[starting_x, int(i * height / num_robots)], True)
temp.row_direction = direction
temp.x_direction = direction
robots_bf_k.append(temp)
controller = RobotController(grid, robots_bf_k, False, False, True)
temp = controller.go()
steps_bf_k.append(temp[0])
print('BFK Iteration', iteration)
name = 'BF'
kriging = 'Yes'
steps = temp[0]
finished = temp[1]
if len(temp[2]) >= 5:
best_bomb_guess_x = temp[2][0]
best_bomb_guess_y = temp[2][1]
guess_at_step = temp[2][4]
else:
best_bomb_guess_x = ''
best_bomb_guess_y = ''
guess_at_step = ''
if len(temp[3]) >= 2:
last_bomb_guess_x = temp[3][0]
last_bomb_guess_y = temp[3][1]
else:
last_bomb_guess_x = ''
last_bomb_guess_y = ''
list = [
name, kriging, width, height, bomb_x, bomb_y, num_robots,
steps, finished, best_bomb_guess_x, best_bomb_guess_y,
guess_at_step, last_bomb_guess_x, last_bomb_guess_y
]
csvwriter.writerow(list)
robots_ph = []
for i in range(0, num_robots):
starting_x = 0
direction = 1
if i % 2 == 1:
starting_x = width - 1
direction = -1
temp = Robot(
i, grid,
[starting_x, int(i * height / num_robots)], False)
temp.row_direction = direction
temp.x_direction = direction
robots_ph.append(temp)
controller = RobotController(grid, robots_ph, False, False, False)
temp = controller.go()
steps_ph.append(temp[0])
print('PH Iteration', iteration)
name = 'PH'
kriging = 'No'
steps = temp[0]
finished = temp[1]
if len(temp[2]) >= 5:
best_bomb_guess_x = temp[2][0]
best_bomb_guess_y = temp[2][1]
guess_at_step = temp[2][4]
else:
best_bomb_guess_x = ''
best_bomb_guess_y = ''
guess_at_step = ''
if len(temp[3]) >= 2:
last_bomb_guess_x = temp[3][0]
last_bomb_guess_y = temp[3][1]
else:
last_bomb_guess_x = ''
last_bomb_guess_y = ''
list = [
name, kriging, width, height, bomb_x, bomb_y, num_robots,
steps, finished, best_bomb_guess_x, best_bomb_guess_y,
guess_at_step, last_bomb_guess_x, last_bomb_guess_y
]
csvwriter.writerow(list)
robots_ph_k = []
for i in range(0, num_robots):
starting_x = 0
direction = 1
if i % 2 == 1:
starting_x = width - 1
direction = -1
temp = Robot(
i, grid,
[starting_x, int(i * height / num_robots)], False)
temp.row_direction = direction
temp.x_direction = direction
robots_ph_k.append(temp)
controller = RobotController(grid, robots_ph_k, False, False, True)
temp = controller.go()
steps_ph_k.append(temp[0])
print('PHK Iteration', iteration)
name = 'PH'
kriging = 'Yes'
steps = temp[0]
finished = temp[1]
if len(temp[2]) >= 5:
best_bomb_guess_x = temp[2][0]
best_bomb_guess_y = temp[2][1]
guess_at_step = temp[2][4]
else:
best_bomb_guess_x = ''
best_bomb_guess_y = ''
guess_at_step = ''
if len(temp[3]) >= 2:
last_bomb_guess_x = temp[3][0]
last_bomb_guess_y = temp[3][1]
else:
last_bomb_guess_x = ''
last_bomb_guess_y = ''
list = [
name, kriging, width, height, bomb_x, bomb_y, num_robots,
steps, finished, best_bomb_guess_x, best_bomb_guess_y,
guess_at_step, last_bomb_guess_x, last_bomb_guess_y
]
csvwriter.writerow(list)
x_bar_bf = mean(steps_bf)
sigma_bf = stdev(steps_bf, x_bar_bf)
print()
print('Brute Force')
print('----------------------')
print('Mean Steps: ', x_bar_bf)
print('Std Dev Steps: ', sigma_bf)
x_bar_bf_k = mean(steps_bf_k)
sigma_bf_k = stdev(steps_bf_k, x_bar_bf_k)
print()
print('Brute Force + Kriging')
print('----------------------')
print('Mean Steps: ', x_bar_bf_k)
print('Std Dev Steps: ', sigma_bf_k)
x_bar_ph = mean(steps_ph)
sigma_ph = stdev(steps_ph, x_bar_ph)
print()
print('Phylogenetic')
print('----------------------')
print('Mean Steps: ', x_bar_ph)
print('Std Dev Steps: ', sigma_ph)
x_bar_ph_k = mean(steps_ph_k)
sigma_ph_k = stdev(steps_ph_k, x_bar_ph_k)
print()
print('Phylogenetic + Kriging')
print('----------------------')
print('Mean Steps: ', x_bar_ph_k)
print('Std Dev Steps: ', sigma_ph_k)
self.weights.append(weight)
print(total)
def calculate_z(self):
for index in range(len(self.points)):
temp = self.weights[index] * self.points[index][2]
# print(self.points[index][2], '->', temp)
self.estimate += temp
# print(self.estimate)
# print(self.weights[index], '->', self.points[index][2])
if __name__ == "__main__":
np.set_printoptions(linewidth=300, precision=3)
heat_map = Grid(26, 26)
heat_map.init_bomb(2, 3, 10)
# heat_map.cells[10][0] = 5
# heat_map.cells[7][1] = 6
# heat_map.cells[13][1] = 6
# heat_map.cells[9][3] = 8
# heat_map.cells[13][2] = 7
# heat_map.cells[4][0] = 4
# heat_map.cells[8][8] = 8
# heat_map.cells[12][8] = 8
# heat_map.cells[10][9] = 7
k = EasyKriging(heat_map, 2, 3)
k.get_points()
print(k.points)
k.calculate_weights()