def get_all_allocation_combination(robot_pos_list, target_pos_list):
# i'th target is allocated to which value robot
base = [0 for i in range(len(target_pos_list))]
limit = [len(robot_pos_list) for i in range(len(target_pos_list))]
allocations = []
while(True):
allocations.append([[] for i in range(len(robot_pos_list))])
for target, robot in enumerate(base):
allocations[-1][robot].append(target_pos_list[target])
if reached_limit(base, limit):
break
increment(base, limit)
return allocations
def getNeighbourStates(self):
global connectedness
neighbours = []
moveCombinations = []
base = [0 for i in range(len(self.robots))]
limit = [connectedness for i in range(len(self.robots))]
while(True):
moveCombinations.append(base[:])
if reached_limit(base, limit):
break
increment(base, limit)
for move in moveCombinations:
state = self.transition(move)
if state.isValidState():
neighbours.append(state)
return neighbours