def Iterative_Deepening_DFS(init, goal):
nodes = rp.build_graph()
initNode = nodes.get(init)
goalNode = nodes.get(goal)
frontier = Stack()
path_cost = 0.0
node_expended = 0
path = Stack()
if initNode.name == goalNode.name:
print('Number of nodes expanded:', node_expended)
print('Solution path', goal)
print('Solution cost', path_cost)
return
isGoal = False
iteDepth = 0
while not isGoal:
frontier.push(initNode)
initNode.depth = 0
node_expended = 0
while not frontier.isEmpty():
if isGoal:
break
parentNode = frontier.pop()
node_expended = node_expended + 1
for i in range(0, len(parentNode.neighbors)):
childNode = nodes.get(parentNode.neighbors[i].destination)
childNode.parent = parentNode
childNode.depth = parentNode.depth + 1
if childNode.depth <= iteDepth:
frontier.push(childNode)
if childNode.name == goal:
isGoal = True
break
iteDepth = iteDepth + 1
if isGoal:
node = goalNode
while node.name != init:
path.push(node.name)
stepCost = 0.0
for x in range(len(node.neighbors)):
if node.neighbors[x].destination == node.parent.name:
stepCost = node.neighbors[x].distance
break
path_cost = path_cost + stepCost
node = node.parent
path.push(node.name)
print('Number of nodes expanded:', node_expended)
print('Solution path', path.stack)
print('Solution cost', path_cost)
else:
print('Number of nodes expanded:', node_expended)
print('Solution path: There is no solution')
print('Solution cost', path_cost)
return
def Breadth_First_Search(init, goal):
nodes = rp.build_graph()
initNode = nodes.get(init)
goalNode = nodes.get(goal)
frontier = Queue()
frontier.offer(initNode)
path_cost = 0.0
node_expended = 0
path = Stack()
if initNode.name == goalNode.name:
print('Number of nodes expanded:', node_expended)
print('Solution path', goal)
print('Solution cost', path_cost)
return
isGoal = False
ite = 0
while not frontier.isEmpty():
ite = ite + 1
if ite > 20:
break
if isGoal:
break
parentNode = frontier.pop()
node_expended = node_expended + 1
for i in range(0, len(parentNode.neighbors)):
childNode = nodes.get(parentNode.neighbors[i].destination)
childNode.parent = parentNode
frontier.offer(childNode)
if childNode.name == goal:
isGoal = True
break
if isGoal:
node = goalNode
while node.name != init:
path.push(node.name)
stepCost = 0.0
for x in range(len(node.neighbors)):
if node.neighbors[x].destination == node.parent.name:
stepCost = node.neighbors[x].distance
break
path_cost = path_cost + stepCost
node = node.parent
path.push(node.name)
print('Number of nodes expanded:', node_expended)
print('Solution path', path.stack)
print('Solution cost', path_cost)
else:
print('Number of nodes expanded:', node_expended)
print('Solution path: There is no solution')
print('Solution cost', path_cost)
return
def A_Star_Search(init, goal):
R = 3959
nodes = rp.build_graph()
initNode = nodes.get(init)
initNode.cost = 0.0
goalNode = nodes.get(goal)
phi_init = initNode.lat * math.pi / 180
theta_init = initNode.lon * math.pi / 180
init_x = math.cos(phi_init) * math.cos(theta_init) * R
init_y = math.cos(phi_init) * math.sin(theta_init) * R
init_z = math.sin(phi_init) * R
phi_goal = goalNode.lat * math.pi / 180
theta_goal = goalNode.lon * math.pi / 180
goal_x = math.cos(phi_goal) * math.cos(theta_goal) * R
goal_y = math.cos(phi_goal) * math.sin(theta_goal) * R
goal_z = math.sin(phi_goal) * R
heu = math.sqrt(
math.pow(goal_x - init_x, 2) + math.pow(goal_y - init_y, 2) +
math.pow(goal_z - init_z, 2))
initNode.heu = heu
frontier = PriorityQueue()
frontier.offer(initNode)
path_cost = 0.0
node_expended = 0
path = Stack()
closeList = {}
if initNode.name == goalNode.name:
print('Number of nodes expanded:', node_expended)
print('Solution path', goal)
print('Solution cost', path_cost)
return
isGoal = False
ite = 0
while not frontier.isEmpty():
ite = ite + 1
if ite > 20:
break
if isGoal:
break
parentNode = frontier.pop()
closeList[parentNode.name] = parentNode
node_expended = node_expended + 1
if parentNode.name == goalNode.name:
isGoal = True
break
for i in range(len(parentNode.neighbors)):
childNode = nodes.get(parentNode.neighbors[i].destination)
if not childNode.name in closeList:
currCost = parentNode.neighbors[i].distance + parentNode.cost
phi_child = childNode.lat * math.pi / 180
theta_child = childNode.lon * math.pi / 180
child_x = math.cos(phi_child) * math.cos(theta_child) * R
child_y = math.cos(phi_child) * math.sin(theta_child) * R
child_z = math.sin(phi_child) * R
currHeu = math.sqrt(
math.pow(goal_x - child_x, 2) +
math.pow(goal_y - child_y, 2) +
math.pow(goal_z - child_z, 2))
childNode.heu = currHeu
if currCost < childNode.cost:
childNode.cost = currCost
childNode.parent = parentNode
if not frontier.isContain(childNode):
frontier.offer(childNode)
if isGoal:
node = goalNode
while node.name != init:
path.push(node.name)
stepCost = 0.0
for x in range(len(node.neighbors)):
if node.neighbors[x].destination == node.parent.name:
stepCost = node.neighbors[x].distance
break
path_cost = path_cost + stepCost
node = node.parent
path.push(node.name)
print('Number of nodes expanded:', node_expended)
print('Solution path', path.stack)
print('Solution cost', path_cost)
else:
print('Number of nodes expanded:', node_expended)
print('Solution path: There is no solution')
print('Solution cost', path_cost)
return
def Uniform_Cost_Search(init, goal):
nodes = rp.build_graph()
initNode = nodes.get(init)
initNode.cost = 0.0
goalNode = nodes.get(goal)
frontier = PriorityQueue()
frontier.offer(initNode)
path_cost = 0.0
node_expended = 0
path = Stack()
closeList = {}
if initNode.name == goalNode.name:
print('Number of nodes expanded:', node_expended)
print('Solution path', goal)
print('Solution cost', path_cost)
return
isGoal = False
ite = 0
while not frontier.isEmpty():
ite = ite + 1
if ite > 20:
break
if isGoal:
break
parentNode = frontier.pop()
closeList[parentNode.name] = parentNode
node_expended = node_expended + 1
if parentNode.name == goalNode.name:
isGoal = True
break
for i in range(len(parentNode.neighbors)):
childNode = nodes.get(parentNode.neighbors[i].destination)
if not childNode.name in closeList:
currCost = parentNode.neighbors[i].distance + parentNode.cost
if currCost < childNode.cost:
childNode.cost = currCost
childNode.parent = parentNode
if not frontier.isContain(childNode):
frontier.offer(childNode)
if isGoal:
node = goalNode
while node.name != init:
path.push(node.name)
stepCost = 0.0
for x in range(len(node.neighbors)):
if node.neighbors[x].destination == node.parent.name:
stepCost = node.neighbors[x].distance
break
path_cost = path_cost + stepCost
node = node.parent
path.push(node.name)
print('Number of nodes expanded:', node_expended)
print('Solution path', path.stack)
print('Solution cost', path_cost)
else:
print('Number of nodes expanded:', node_expended)
print('Solution path: There is no solution')
print('Solution cost', path_cost)
return
def A_Star_Search(init, goal):
vertices = domain.build_graph()
initNode = domain.Node(0)
initNode.name = list(init)[0]
initNode.neighbors = vertices.get(initNode.name).neighbors
initNode.visited.add(initNode.name)
initNode.cost = 0.0
goalNode = domain.Node("inf")
frontier = PriorityQueue()
frontier.offer(initNode)
path_cost = 0.0
node_expended = 0
path = Stack()
li = list(goal)
if len(init) == len(goal):
print('Number of vertices expanded:', node_expended)
print('Solution path', list(init)[0])
print('Solution cost', path_cost)
return
isGoal = False
ite = 0
nodeId = 1
while not frontier.isEmpty():
ite = ite + 1
if ite > 2000000:
break
parentNode = frontier.pop()
node_expended = node_expended + 1
print(parentNode.cost)
if len(parentNode.visited) == len(goal):
isGoal = True
goalNode = parentNode
break
for i in range(len(parentNode.neighbors)):
childNode = domain.Node(nodeId)
nodeId = nodeId + 1
print(nodeId)
childNode.name = parentNode.neighbors[i].destination
childNode.parent = parentNode
childNode.neighbors = vertices.get(childNode.name).neighbors
currCost = parentNode.neighbors[i].distance + parentNode.cost
childNode.cost = currCost
s = set(parentNode.visited)
s.add(childNode.name)
childNode.visited = s
for j in range(len(goal)):
if not li[j] in s:
childNode.heu = (childNode.heu + domain.cal_heu(
vertices.get(childNode.name), vertices.get(li[j])))
break
frontier.offer(childNode)
print(childNode.visited)
if isGoal:
node = goalNode
while node.tag != 0:
path.push(node.name)
stepCost = 0.0
for x in range(len(node.neighbors)):
if node.neighbors[x].destination == node.parent.name:
stepCost = node.neighbors[x].distance
break
path_cost = path_cost + stepCost
node = node.parent
path.push(node.name)
print('Number of vertices expanded:', node_expended)
print('Solution path', path.stack)
print('Solution cost', path_cost)
else:
print('Number of vertices expanded:', node_expended)
print('Solution path: There is no solution')
print('Solution cost', path_cost)
return
def Iterative_Deepening_DFS(init, goal):
vertices = domain.build_graph()
initNode = domain.Node(0)
initNode.name = list(init)[0]
initNode.neighbors = vertices.get(initNode.name).neighbors
initNode.visited.add(initNode.name)
goalNode = domain.Node("inf")
frontier = Stack()
path_cost = 0.0
node_expended = 0
path = Stack()
if len(init) == len(goal):
print('Number of vertices expanded:', node_expended)
print('Solution path', list(init)[0])
print('Solution cost', path_cost)
return
isGoal = False
iteDepth = 0
nodeId = 1
while not isGoal:
frontier.push(initNode)
initNode.depth = 0
node_expended = 0
while not frontier.isEmpty():
if isGoal:
break
parentNode = frontier.pop()
node_expended = node_expended + 1
for i in range(0, len(parentNode.neighbors)):
childNode = domain.Node(nodeId)
nodeId = nodeId + 1
print(nodeId)
childNode.name = parentNode.neighbors[i].destination
childNode.parent = parentNode
childNode.neighbors = vertices.get(childNode.name).neighbors
s = set(parentNode.visited)
s.add(childNode.name)
childNode.visited = s
childNode.depth = parentNode.depth + 1
print(childNode.visited)
if childNode.depth <= iteDepth:
frontier.push(childNode)
if len(childNode.visited) == len(goal):
isGoal = True
goalNode = childNode
break
iteDepth = iteDepth + 1
if isGoal:
node = goalNode
while node.tag != 0:
path.push(node.name)
stepCost = 0.0
for x in range(len(node.neighbors)):
if node.neighbors[x].destination == node.parent.name:
stepCost = node.neighbors[x].distance
break
path_cost = path_cost + stepCost
node = node.parent
path.push(node.name)
print('Number of vertices expanded:', node_expended)
print('Solution path', path.stack)
print('Solution cost', path_cost)
else:
print('Number of vertices expanded:', node_expended)
print('Solution path: There is no solution')
print('Solution cost', path_cost)
return
commands = list()
for line in open(filename):
commands.append(line.strip())
if len(commands) == 3:
if commands[2] == 'B':
Breadth_First_search(commands[0], commands[1])
elif commands[2] == 'D':
Depth_First_search(commands[0], commands[1])
elif commands[2] == 'I':
Iterative_Deepening_DFs(commands[0], commands[1])
elif commands[2] == 'U':
Uniform_Cost_search(commands[0], commands[1])
else:
A_Star_search(commands[0], commands[1])
else:
vertices = domain.build_graph()
goal = set(vertices)
init = set()
init.add(commands[0])
if commands[1] == 'B':
Breadth_First_Search(init, goal)
elif commands[1] == 'D':
Depth_First_Search(init, goal)
elif commands[1] == 'I':
Iterative_Deepening_DFS(init, goal)
elif commands[1] == 'U':
Uniform_Cost_Search(init, goal)
else:
A_Star_Search(init, goal)
