def setUp(self):
self.firstState = State("First")
self.secondState = State("Second")
self.thirdState = State("Third")
self.fourthState = State("Fourth")
self.fifthState = State("Fifth")
self.sixthState = State("Sixth")
self.seventhState = State("Seventh")
self.firstAction = Action("<Action One>")
self.secondAction = Action("<Action Two>")
self.thirdAction = Action("<Action Three>")
self.fourthAction = Action("<Action Four>")
self.successorFunction = SuccessorFunction()
self.successorFunction.addMapping(self.firstState, self.firstAction,\
self.firstState)
self.successorFunction.addMapping(self.firstState, self.secondAction,\
self.secondState)
self.successorFunction.addMapping(self.firstState, self.thirdAction,\
self.firstState)
self.searchProblem = SearchProblem(self.firstState,\
self.successorFunction,\
self.secondState)
def testSuccessorFunctionDefinition(self):
simpleFunction = SuccessorFunction()
simpleFunction.addMapping(self.firstState, self.firstAction, self.secondState)
simpleFunctionString = str(simpleFunction)
#Verbose output:
# print(simpleFunctionString)
# print("--------------------------------------------\n")
# print("Trying to execute:\naddMapping((State First with conditions: \
# (None)) ->\n\t(Action <Action One>, State Second with conditions: (None)))\n")
# print("This is a duplicate of the first mapping in a Successor Function \
# and should not be reflected at all.\n")
simpleFunction.addMapping(self.firstState, self.firstAction, self.secondState)
simpleFunctionDupString = str(simpleFunction)
# print(simpleFunctionDupString)
self.assertEqual(simpleFunctionString, simpleFunctionDupString, \
"Duplicate mappings in a Successor Function should not \
be reflected at all.")
# print("--------------------------------------------\n")
# print("Trying to execute:\naddMapping((State First with conditions: \
# (None)) ->\n\t(Action <Action One>, State Third with conditions: (None)))\n")
# print("Applying the same action in the same state should not be allowed to\
# result in two different states.\n")
# print("Adding this mapping should replace the original mapping.\n")
simpleFunction.addMapping(self.firstState, self.firstAction, self.thirdState)
simpleFunctionReplaceString = str(simpleFunction)
#print(simpleFunctionReplaceString)
self.assertNotEqual(simpleFunctionString, simpleFunctionReplaceString, \
"Mapping one State to one Action with multiple \
resulting States keeps only the last-most State.")
def main():
move_one_missionary = Action("Move One Missionary")
move_two_missionaries = Action("Move Two Missionaries")
move_one_cannibal = Action("Move One Cannibal")
move_two_cannibals = Action("Move Two Cannibals")
move_one_and_one = Action("Move One Missionary + One Cannibal")
initial_state = State("Init", {'L':{'3m','3c','b'}, 'R':{'0m','0c'}})
goal_state = State("Goal", {'L':{'0m','0c'}, 'R':{'3m','3c','b'}})
# Any state where cannibals outnumber missionaries is not a valid state
one_and_one_over = State("1m1c Over", {'L':{'2m','2c'}, 'R':{'1m','1c','b'}})
one_and_one_over_without_boat = State("1m1c Over w/o Boat", {'L':{'2m','2c','b'}, 'R':{'1m','1c'}})
two_cannibals_over = State("2c Over", {'L':{'3m','1c'}, 'R':{'0m','2c','b'}})
two_cannibals_over_without_boat = State("2c Over w/o Boat", {'L':{'3m','1c', 'b'}, 'R':{'0m','2c'}})
one_cannibal_over = State("1c Over", {'L':{'3m','2c'}, 'R':{'0m','1c','b'}})
one_cannibal_over_without_boat = State("1c Over w/o Boat", {'L':{'3m','2c','b'}, 'R':{'0m','1c'}})
two_and_two_over = State("2m2c Over", {'L':{'1m','1c'}, 'R':{'2m','2c','b'}})
two_and_two_over_without_boat = State("2m2c Over", {'L':{'1m','1c','b'}, 'R':{'2m','2c'}})
three_cannibals_over = State("3c Over", {'L':{'3m','0c'}, 'R':{'0m','3c','b'}})
three_missionaries_over_without_boat = State("3m Over w/o Boat", {'L':{'0m','3c', 'b'}, 'R':{'3m','0c'}})
three_missionaries_one_cannibal_over = State("3m3c Over", {'L':{'0m','1c'}, 'R':{'3m','1c','b'}})
three_missionaries_one_cannibal_over_without_boat = State("3m1c Over w/o Boat", {'L':{'0m','2c', 'b'}, 'R':{'3m','1c'}})
three_missionaries_two_cannibals_over = State("3m2c Over", {'L':{'0m','1c'}, 'R':{'3m','2c','b'}})
#Example invalid states:
#two_cannibals_over_without_boat = State("2c Over w/o Boat", {'L':{'3m','1c', 'b'}, 'R':{'0m','2c'}})
#one_missionary_two_cannibals_over = State("1m2c Over", {'L':{'2m','1c'}, 'R':{'1m','2c','b'}})
#Successor Function
successor_fn = SuccessorFunction()
successor_fn.addMapping(initial_state, move_two_cannibals, two_cannibals_over)
successor_fn.addMapping(initial_state, move_one_and_one, one_and_one_over)
successor_fn.addMapping(initial_state, move_one_cannibal, one_cannibal_over)
#be careful w/mappings that result in the initial_state
#you could descend in an infinte loop...
#Beginning in (two_cannibals_over)
successor_fn.addMapping(two_cannibals_over, move_two_cannibals, initial_state)
successor_fn.addMapping(two_cannibals_over, move_one_cannibal, one_cannibal_over_without_boat)
#Beginning in (one_and_one_over)
successor_fn.addMapping(one_and_one_over, move_one_and_one, initial_state)
successor_fn.addMapping(one_and_one_over, move_one_missionary, one_cannibal_over_without_boat)
#Beginning in (one_cannibal_over)
successor_fn.addMapping(one_cannibal_over, move_one_cannibal, initial_state)
#Beginning in (one_cannibal_over_without_boat)
successor_fn.addMapping(one_cannibal_over_without_boat, move_one_cannibal, two_cannibals_over)
successor_fn.addMapping(one_cannibal_over_without_boat, move_one_missionary, one_and_one_over)
successor_fn.addMapping(one_cannibal_over_without_boat, move_two_cannibals, three_cannibals_over)
#Beginning in (three_cannibals_over)
successor_fn.addMapping(three_cannibals_over, move_one_cannibal, two_cannibals_over_without_boat)
successor_fn.addMapping(three_cannibals_over, move_two_cannibals, one_cannibal_over_without_boat)
#Beginning in (two_cannibals_over_without_boat)
successor_fn.addMapping(two_cannibals_over_without_boat, move_two_missionaries, two_and_two_over)
successor_fn.addMapping(two_cannibals_over_without_boat, move_one_cannibal, three_cannibals_over)
#Beginning in (two_and_two_over)
successor_fn.addMapping(two_and_two_over, move_two_missionaries, two_cannibals_over_without_boat)
successor_fn.addMapping(two_and_two_over, move_one_and_one, one_and_one_over_without_boat)
#Beginning in (one_and_one_over_without_boat)
successor_fn.addMapping(one_and_one_over_without_boat, move_one_and_one, two_and_two_over)
successor_fn.addMapping(one_and_one_over_without_boat, move_two_missionaries, three_missionaries_one_cannibal_over)
#Beginning in (three_missionaries_one_cannibal_over)
successor_fn.addMapping(three_missionaries_one_cannibal_over, move_two_missionaries, one_and_one_over_without_boat)
successor_fn.addMapping(three_missionaries_one_cannibal_over, move_one_cannibal, three_missionaries_over_without_boat)
#Beginning in (three_missionaries_over_without_boat)
successor_fn.addMapping(three_missionaries_over_without_boat, move_one_cannibal, three_missionaries_one_cannibal_over)
successor_fn.addMapping(three_missionaries_over_without_boat, move_two_cannibals, three_missionaries_two_cannibals_over)
#Beginning in (three_missionaries_two_cannibals_over)
successor_fn.addMapping(three_missionaries_two_cannibals_over, move_two_cannibals, three_missionaries_over_without_boat)
successor_fn.addMapping(three_missionaries_two_cannibals_over, move_one_cannibal, three_missionaries_one_cannibal_over_without_boat)
successor_fn.addMapping(three_missionaries_two_cannibals_over, move_one_missionary, two_and_two_over_without_boat)
#Beginning in (two_and_two_over_without_boat)
successor_fn.addMapping(two_and_two_over_without_boat, move_one_missionary, three_missionaries_one_cannibal_over)
successor_fn.addMapping(two_and_two_over_without_boat, move_one_and_one, goal_state)
#Beginning in (three_missionaries_one_cannibal_over_without_boat)
successor_fn.addMapping(three_missionaries_one_cannibal_over_without_boat, move_one_cannibal, three_missionaries_two_cannibals_over)
successor_fn.addMapping(three_missionaries_one_cannibal_over_without_boat, move_two_cannibals, goal_state)
#Define the Search Problem
missionaries_and_cannibals = SearchProblem(initial_state, successor_fn, goal_state)
plan = tree_search(missionaries_and_cannibals)
print(missionaries_and_cannibals)
print("\nSolution: \n")
for plan_step in plan:
if plan_step.action is None:
print ("<start>")
else:
print ("\t"),
print (plan_step.action)
print("<end>")
print("\nExpanded Nodes: \n")
for plan_step in plan:
print(plan_step)
class Test(unittest.TestCase):
def setUp(self):
self.firstState = State("First")
self.secondState = State("Second")
self.thirdState = State("Third")
self.fourthState = State("Fourth")
self.fifthState = State("Fifth")
self.sixthState = State("Sixth")
self.seventhState = State("Seventh")
self.firstAction = Action("<Action One>")
self.secondAction = Action("<Action Two>")
self.thirdAction = Action("<Action Three>")
self.fourthAction = Action("<Action Four>")
self.successorFunction = SuccessorFunction()
self.successorFunction.addMapping(self.firstState, self.firstAction,\
self.firstState)
self.successorFunction.addMapping(self.firstState, self.secondAction,\
self.secondState)
self.successorFunction.addMapping(self.firstState, self.thirdAction,\
self.firstState)
self.searchProblem = SearchProblem(self.firstState,\
self.successorFunction,\
self.secondState)
def tearDown(self):
pass
def testStateNameEquality(self):
left = State("Left")
leftToo = State("Left")
right = State("Right")
self.assertEqual(left, leftToo, "States should be equal")
self.assertNotEqual(left, right, "States should not be equal")
def testStateConditionsEquality(self):
allLeft = State("AllLeft", {'L':{'3m','3c','b'}, 'R':{'0m','0c'}})
allLeftToo = State("AllLeft", {'L':{'3m','3c','b'}, 'R':{'0m','0c'}})
allRight = State("AllRight", {'L':{'0m','0c'}, 'R':{'3m','3c','b'}})
self.assertEqual(allLeft, allLeftToo, "These two States have identical\
names and conditions")
self.assertNotEqual(allLeft, allRight, "These two States have different\
names and conditions")
def testSuccessorFunctionDefinition(self):
simpleFunction = SuccessorFunction()
simpleFunction.addMapping(self.firstState, self.firstAction, self.secondState)
simpleFunctionString = str(simpleFunction)
#Verbose output:
# print(simpleFunctionString)
# print("--------------------------------------------\n")
# print("Trying to execute:\naddMapping((State First with conditions: \
# (None)) ->\n\t(Action <Action One>, State Second with conditions: (None)))\n")
# print("This is a duplicate of the first mapping in a Successor Function \
# and should not be reflected at all.\n")
simpleFunction.addMapping(self.firstState, self.firstAction, self.secondState)
simpleFunctionDupString = str(simpleFunction)
# print(simpleFunctionDupString)
self.assertEqual(simpleFunctionString, simpleFunctionDupString, \
"Duplicate mappings in a Successor Function should not \
be reflected at all.")
# print("--------------------------------------------\n")
# print("Trying to execute:\naddMapping((State First with conditions: \
# (None)) ->\n\t(Action <Action One>, State Third with conditions: (None)))\n")
# print("Applying the same action in the same state should not be allowed to\
# result in two different states.\n")
# print("Adding this mapping should replace the original mapping.\n")
simpleFunction.addMapping(self.firstState, self.firstAction, self.thirdState)
simpleFunctionReplaceString = str(simpleFunction)
#print(simpleFunctionReplaceString)
self.assertNotEqual(simpleFunctionString, simpleFunctionReplaceString, \
"Mapping one State to one Action with multiple \
resulting States keeps only the last-most State.")
def testGettingApplicableActionsForStates(self):
applicable_actions = \
self.successorFunction.getApplicableActionsInState(self.firstState)
self.assertTrue(type(applicable_actions)==type(set()), \
"The returned value should be a Set")
for action in applicable_actions:
self.assertTrue(type(action)==Action, \
"Each element of the Set should be an Action")
self.assertIn(self.firstAction, applicable_actions, \
"<Action One> should be in the returned Set")
self.assertNotIn(self.fourthAction, applicable_actions, \
"<Action Four> should not be in the returned Set")
def testResolveActionInState(self):
resulting_state = \
self.successorFunction.resolveActionInState(self.firstState, self.firstAction)
self.assertTrue(type(resulting_state)==State, \
"Resulting state should be a State")
self.assertEqual(resulting_state, self.firstState, \
"Correct State is returned for applying corresponding Action")
self.assertIsNone(self.successorFunction.resolveActionInState(self.thirdState, \
self.firstAction), \
"If State is not mapped, resulting State is None")
self.assertIsNone(self.successorFunction.resolveActionInState(self.firstState, \
self.fourthAction), \
"If State is not mapped to given Action, resulting State is None")
def testGoalTest(self):
secondStateNode = SearchNode(self.secondState)
self.assertTrue(self.searchProblem.goalTest(secondStateNode), \
"The SearchNode for the second State is the goal of this toy Search Problem")
self.assertFalse(self.searchProblem.goalTest(self.secondState), \
"The Second State should be the goal of this toy Search Problem, \
but we're passing in a State, not a Node")
self.assertFalse(self.searchProblem.goalTest(self.firstState), \
"The First State should not be the goal of this toy Search Problem")
self.assertFalse(self.searchProblem.goalTest(1), "A number is not a State! This should be False")
def testPathTo(self):
root = SearchNode(self.firstState)
child = SearchNode(self.secondState, root)
grandchild = SearchNode(self.thirdState, child)
true_path = [root, child, grandchild]
test_path = path_to(grandchild)
self.assertEqual(test_path, true_path, "Test and True Paths should be equal")
def testExpand(self):
#the expand function can actually have repeated nodes, so this is normal.
true_expanded_nodes = [SearchNode(self.firstState,SearchNode(self.firstState),self.firstAction,0,1),
SearchNode(self.firstState,SearchNode(self.firstState),self.thirdAction,0,1),
SearchNode(self.secondState,SearchNode(self.firstState),self.secondAction,0,1)
]
test_expanded_nodes = expand(self.searchProblem, SearchNode(self.firstState))
self.assertEqual(len(test_expanded_nodes), 3, "There should be three nodes in the Test Expansion")
self.assertEqual(test_expanded_nodes[0], true_expanded_nodes[0], "Test and True Expansions should be the same")
self.assertEqual(test_expanded_nodes[1], true_expanded_nodes[1], "Test and True Expansions should be the same")
self.assertEqual(test_expanded_nodes[2], true_expanded_nodes[2], "Test and True Expansions should be the same")
