def test_search_one_backward_step_3(self, cfg):
# given
gs = GoalSequenceSearcher()
start = "01111111"
goal = "10111111"
gs.forward_perceptions.append(Perception(start))
gs.backward_perceptions.append(Perception(goal))
reliable_classifiers = ClassifiersList(
Classifier(condition="#1######",
action=1,
effect="#0######",
cfg=cfg),
Classifier(condition="0#######",
action=1,
effect="1#######",
cfg=cfg))
forward_size = 1
forward_point = 0
# when
act_seq, size = gs._search_one_backward_step(reliable_classifiers,
forward_size,
forward_point)
# then
assert act_seq is None
assert len(gs.backward_classifiers) == 2
def test_form_sequence_backwards_5(self, cfg):
# given
gs = GoalSequenceSearcher()
cl0 = Classifier(condition="01010101",
action=2,
effect="0000000",
cfg=cfg)
cl1 = Classifier(condition="11111111",
action=0,
effect="0000000",
cfg=cfg)
cl2 = Classifier(condition="11111111",
action=1,
effect="0000000",
cfg=cfg)
gs.backward_classifiers = [
ClassifiersList(cl0),
ClassifiersList(cl0, cl1)
]
i = 2
idx = 0
# when
seq = gs._form_sequence_backwards(i, idx, cl2)
# then
assert len(seq) == 3
assert cl0.action in seq
assert cl1.action in seq
assert cl2.action in seq
assert seq == [cl2.action, cl0.action, cl1.action]
def search_goal_sequence(classifiers: ClassifiersList,
start_state: Perception,
goal: Perception,
theta_r: float) -> list:
"""
Searches a path from start to goal using a bidirectional method in the
environmental model (i.e. the list of reliable classifiers).
Parameters
----------
classifiers: ClassifiersList
start_state: Perception
goal: Perception
theta_r: int
quality theta_r
Returns
-------
list
sequence of actions
"""
reliable_classifiers = \
get_quality_classifiers_list(classifiers,
quality=theta_r)
return GoalSequenceSearcher().search_goal_sequence(
reliable_classifiers, start_state, goal)
def test_search_goal_sequence_1(self):
# given
gs = GoalSequenceSearcher()
start = Perception("11111111")
goal = Perception("11111110")
empty_list = ClassifiersList()
# when
result = gs.search_goal_sequence(empty_list, start=start, goal=goal)
# then
assert result == []
def test_form_sequence_forwards_1(self, cfg):
# given
gs = GoalSequenceSearcher()
cl0 = Classifier(condition="01010101",
action=2,
effect="0000000",
cfg=cfg)
i = 0
idx = 0
# when
seq = gs._form_sequence_forwards(i, idx, cl0)
# then
assert len(seq) == 1
assert cl0.action in seq
def test_form_new_classifiers_1(self, cfg):
# given
gs = GoalSequenceSearcher()
cls_list = [ClassifiersList()]
cl = Classifier(condition="01010101",
action=2,
effect="0000000",
cfg=cfg)
i = 0
# when
new_classifiers = gs._form_new_classifiers(cls_list, i, cl)
# then
assert len(new_classifiers) == 1
assert cl in new_classifiers
def test_search_goal_sequence_4(self, cfg):
# given
gs = GoalSequenceSearcher()
start = "01111111"
goal = "00111111"
reliable_classifiers = ClassifiersList(
Classifier(condition="#1######",
action=1,
effect="#0######",
cfg=cfg))
# when
result = gs.search_goal_sequence(reliable_classifiers,
start=start,
goal=goal)
# then
assert result == [1]
def test_form_new_classifiers_2(self, cfg):
# given
gs = GoalSequenceSearcher()
cl0 = Classifier(condition="01010101",
action=2,
effect="0000000",
cfg=cfg)
cl1 = Classifier(condition="11111111",
action=0,
effect="0000000",
cfg=cfg)
cls_list = [ClassifiersList(cl0)]
i = 1
# when
new_classifiers = gs._form_new_classifiers(cls_list, i, cl1)
# then
assert len(new_classifiers) == 2
assert cl0 in new_classifiers
assert cl1 in new_classifiers
def search_goal_sequence(classifiers: ClassifiersList, p0: Perception,
p1: Perception) -> List:
"""
Searches a path from start to goal using a bidirectional method in the
environmental model (i.e. the list of reliable classifiers).
Parameters
----------
classifiers: ClassifiersList
p0: Perception
start state
p1: Perception
destination state
Returns
-------
list
sequence of actions
"""
reliable = [cl for cl in classifiers if cl.is_reliable()]
gs = GoalSequenceSearcher()
return gs.search_goal_sequence(ClassifiersList(*reliable), p0, p1)