def get_free_pos_limited(
grid,
pos: GridPos,
radius: int = 1,
metric: EnvironmentMetric = EnvironmentMetric.EUCLIDEAN,
) -> GridPos:
"""
Get a free position on the grid only [radius] from the passed position.
Autor: Benjamin Eder
:param grid:
:param pos:
:param radius:
:param metric:
:return:
"""
possible_positions = []
env_size = radius * 2 + 1
grid_size = grid.get_size()
cur_row = int(pos.row())
cur_col = int(pos.col())
if metric == EnvironmentMetric.MANHATTAN:
for r in range(0, env_size):
offset = abs(radius - r)
check_row = cur_row - radius + r
for c in range(offset, env_size - offset):
check_column = cur_col - radius + c
possible_positions.append((check_row, check_column))
elif metric == EnvironmentMetric.EUCLIDEAN:
for r in range(0, env_size):
check_row = cur_row - radius + r
for c in range(0, env_size):
check_column = cur_col - radius + c
distance = np.round(np.sqrt((radius - r)**2 + (radius - c)**2))
if 0 < distance <= radius:
possible_positions.append((check_row, check_column))
else:
raise ValueError('Metric not implemented')
# Filter positions that are no more in the Grid or are already used
possible_positions = list(
filter(
lambda pos: 0 <= pos[0] < grid_size and 0 <= pos[1] < grid_size and
(pos[0] != cur_row or pos[1] != cur_col) and not grid.is_occupied(
GridPos(np.uint(pos[0]), np.uint(pos[1]))),
possible_positions))
if len(possible_positions) == 0:
raise ValueError("No free positions available. ")
random_choice = random.choice(possible_positions)
return GridPos(np.uint(random_choice[0]), np.uint(random_choice[1]))
def update_gui_state(self, grid_pos: GridPos,
agent_state: AgentState) -> None:
self.trigger_gui_event(
Events.AGENT_CHANGE_GUI, {
"row": grid_pos.row(),
"col": grid_pos.col(),
"state": agent_state.value
})
self.__logger.debug(
f"Agent update, at position {grid_pos.row()},{grid_pos.col()}, new state: {agent_state}"
)
def set_agent(self, agent: Agent, grid_pos: GridPos) -> None:
self.__grid[grid_pos.row()][grid_pos.col()] = agent
def get_agent(self, grid_pos: GridPos) -> Agent:
return self.__grid[grid_pos.row()][grid_pos.col()]