def traverse():
graph = Graph()
visited = set()
test_path = list()
mapped_rooms = graph.dft(
player.current_room
) # maps out the graph connecting each room with its neighbors
rooms = [
room for room in mapped_rooms
] # a list of all rooms in the order in which they were added to the stack
while len(visited) < len(room_graph) - 1:
path = graph.bfs(
rooms[0], rooms[1]
) # As long as there's rooms to visit, we take the shortest path between the first two rooms
while len(
path
) > 1: # While there is at least two rooms in the shortest path we check if the adjacent_room is a neighbor of the current_room and if it is we append the direction value to the adjacent_room
current_room = path[0]
adjacent_room = path[1]
if adjacent_room in mapped_rooms[current_room]:
test_path.append(mapped_rooms[current_room][adjacent_room])
path.remove(current_room)
rooms.remove(
rooms[0]
) # Removes the room you checked and ads it to the visited so that you can keep checking each room through the list
visited.add(rooms[0])
return test_path
def earliest_ancestor(ancestors, starting_node):
"""
given the dataset and the ID of an individual in the dataset,
returns their earliest known ancestor –
the one at the farthest distance from the input individual.
If there is more than one ancestor tied for "earliest",
return the one with the lowest numeric ID.
If the input individual has no parents, the function should return -1.
"""
# Instantiate graph, count and way to track final vertex
graph = Graph()
final_v = 0
total_counter = 0
# for people in ancestors
# add vertex and edge
for people in ancestors:
graph.add_vertex(people[0])
graph.add_vertex(people[1])
for people in ancestors:
graph.add_edge(people[1], people[0])
# Instantiate Stack() to hold nodes to visit
to_visit = Stack()
to_visit.push(starting_node)
# set to hold visited
visited = set()
# if not ancestors return -1
# no ancestors means no neighbors so it must be own ancestor
# -1 for being your own ancestor ... lol hillbilly - I am my own grandpa
if len(graph.get_neighbors(starting_node)) == 0:
return -1
count = 0
# so long as we have vertex to visit start popping
while to_visit.size() > 0:
vertex = to_visit.pop()
if len(graph.get_neighbors(vertex)) == 0:
if count > total_counter:
total_counter = count
final_v = vertex
if count == total_counter:
if vertex < final_v:
final_v = vertex
if vertex not in visited:
visited.add(vertex)
if len(graph.get_neighbors(vertex)) != 0:
for next_v in graph.get_neighbors(vertex):
to_visit.push(next_v)
count += 1
else:
if to_visit.size() == 0:
return final_v
def __init__(self, input_file):
super(PRM, self).__init__(input_file)
self.input_file = input_file
self.gPrm = Graph()
self.collision_checkList = {}
self.gDict = {}
self.visitedCollide = {}
gPoints = self.get_grapple_points()
# for i in range(self.num_grapple_points):
self.gDict[gPoints[0]] = Graph()
def check_weight_update(weight_file, topo_file, nbrs):
global curr_table
global label
global t_start
print "Checking for Topology Changes"
path = './' + label + '/weights'
update = Graph()
update.init_config(label, weight_file, topo_file)
lock.acquire()
if curr_table.serialize != update.serialize:
curr_table.serialize = copy.deepcopy(update.serialize)
print "Topology update detected. Rerouting..."
update.bellman_on_src(label)
curr_table.routes[label] = copy.deepcopy(update.routes[label])
curr_table.set_routes(copy.deepcopy(update.get_routes()))
curr_table.hops[label] = copy.deepcopy(update.hops[label])
curr_table.set_hops(copy.deepcopy(update.get_hops()))
curr_table.start = datetime.now()
curr_table.bellman_on_src(label)
print curr_table.get_routes()
send_to_nbrs(nbrs)
lock.release()
threading.Timer(
period, check_weight_update,
[weight_file, topo_file, nbrs]).start() # Trigger Periodic Check
def getWinningStates(self, activePlayer):
winningStates = []
#WINNING STATE 1 (2 Vertices)
a1 = Vertex("a", activePlayer)
b1 = Vertex("b", 1 - activePlayer)
e1 = Edge(a1, b1)
V1 = {a1, b1}
E1 = {e1}
winningState1 = Graph(V1, E1)
winningStates.append(winningState1)
#WINNING STATE 2 (3 Vertices)
a2 = Vertex("a", activePlayer)
b2 = Vertex("b", activePlayer)
c2 = Vertex("c", 1 - activePlayer)
e1 = Edge(a2, b2)
e2 = Edge(a2, c2)
V2 = {a2, b2, c2}
E2 = {e1, e2}
winningState2 = Graph(V2, E2)
winningStates.append(winningState2)
#WINNING STATE 3 (4 Vertices)
a4 = Vertex("a", activePlayer)
b4 = Vertex("b", activePlayer)
c4 = Vertex("c", 1 - activePlayer)
d4 = Vertex("d", 1 - activePlayer)
e1 = Edge(a4, b4)
e2 = Edge(a4, c4)
e3 = Edge(a4, d4)
e4 = Edge(c4, d4)
e5 = Edge(b4, c4)
V4 = {a4, b4, c4, d4}
E3 = {e1, e2, e3}
winningState3 = Graph(V4, E3)
winningStates.append(winningState3)
#ADD ON 3
E4 = {e1, e2, e3, e4}
winningStates.append(Graph(V4, E4))
E5 = {e1, e2, e3, e4, e5}
winningStates.append(Graph(V4, E5))
#WINNING STATE 3
return winningStates
def BinomialRandomGraph(k, p):
v = {Vertex(i) for i in range(2 * k)}
e = {
Edge(a, b)
for (a, b) in itertools.combinations(v, 2) if random.random() < p
}
return Graph(v, e)
def shortest_path(source, target):
"""
Returns the shortest list of (movie_id, person_id) pairs
that connect the source to the target.
If no possible path, returns None.
"""
frontier = QueueFrontier()
node = Node(source, None, None)
frontier.add(node)
nodes_explored = []
edges = dict()
print("Calculating...")
while True:
if frontier.empty():
graph = Graph(edges, [])
graph.draw_graph("my_graph.png")
return None
node = frontier.remove()
node_person_name = people[node.get_person_id()]["name"]
if node.get_person_id() == target:
path = []
path_name_labels = [people[source]["name"]]
while node.get_parent() is not None:
path.append([node.get_movie_id(), node.get_person_id()])
path_name_labels.append(people[node.get_person_id()]["name"])
node = node.get_parent()
path.reverse()
graph = Graph(edges, path_name_labels)
graph.draw_graph("output_graph.png")
return path
else:
nodes_explored.append(node.get_person_id())
for movie_id, person_id in neighbors_for_person(node.get_person_id()):
child = Node(person_id, node, movie_id)
child_person_name = people[child.get_person_id()]["name"]
movie_name = movies[child.get_movie_id()]["title"]
if(node_person_name != child_person_name):
edges[(node_person_name, child_person_name)] = movie_name
if not frontier.contains_state(person_id) and person_id not in nodes_explored:
frontier.add(child)
def getLosingStates(self, activePlayer):
losingStates = []
#LOSING STATE 1
a1 = Vertex("a", activePlayer)
b1 = Vertex("b", activePlayer)
c1 = Vertex("c", 1 - activePlayer)
d1 = Vertex("d", 1 - activePlayer)
e1 = Edge(a1, b1)
e2 = Edge(b1, c1)
e3 = Edge(c1, d1)
V1 = {a1, b1, c1, d1}
E1 = {e1, e2, e3}
losingState1 = Graph(V1, E1)
losingStates.append(losingState1)
#LOSING STATE 2
a1 = Vertex("a", activePlayer)
b1 = Vertex("b", 1 - activePlayer)
c1 = Vertex("c", activePlayer)
e1 = Edge(a1, b1)
e2 = Edge(b1, c1)
V1 = {a1, b1, c1}
E1 = {e1, e2}
losingState2 = Graph(V1, E1)
losingStates.append(losingState2)
#LOSING STATE 3 (4 Vertices)
a3 = Vertex("a", 1 - activePlayer)
b3 = Vertex("b", 1 - activePlayer)
c3 = Vertex("c", activePlayer)
d3 = Vertex("d", activePlayer)
e1 = Edge(a3, b3)
e2 = Edge(a3, c3)
e3 = Edge(a3, d3)
e4 = Edge(c3, d3)
e5 = Edge(b3, d3)
V4 = {a3, b3, c3, d3}
E3 = {e1, e2, e3}
losingState3 = Graph(V4, E3)
losingStates.append(losingState3)
#ADD ON
E4 = {e1, e2, e3, e4}
losingStates.append(Graph(V4, E4))
E3a = {e1, e2, Edge(b3, d3)}
losingStates.append(Graph(V4, E3a))
E5 = {e1, e4}
losingStates.append(Graph(V4, E5))
E6 = {e2, e5}
losingStates.append(Graph(V4, E5))
#LOSING STATE 5
return losingStates
def play():
# create an array of visited rooms to keep track of
visited = set()
graph = Graph()
# the path we take in that one run of the game
trav_path = []
# using dfs to find the rooms - find all rooms on possible branch
d_rooms = graph.dfs(player.current_room)
# returns and array of the rooms in d_rooms
rooms = [d_room for d_room in d_rooms]
# while total visited is less than the total rooms in graph of world - 1
while (len(visited) < len(room_graph) - 1):
# current room is the first room in the rooms array
curr_room = rooms[0]
# the next traverse will be to the next item in the rooms array
next_room = rooms[1]
# use a bfs to find the shortest path to destination - explores all the neighbour nodes
shortest = graph.bfs(curr_room, next_room)
# loop through shortest until nothing left
while len(shortest) > 1:
# find the neighbours
curr_room_nays = d_rooms[shortest[0]]
# next traverse will be to the next item in shortest array
next_room = shortest[1]
# if the next room (in the shortest path) exists in the current neighbours of curr room
if next_room in curr_room_nays:
trav_path.append(curr_room_nays[next_room])
# remove the first room from the queue
shortest.remove(shortest[0])
# remove the current room from the total rooms
rooms.remove(curr_room)
# pop it on to the visited rooms array
visited.add(curr_room)
return trav_path
def set_init_graph(weight_file, topo_file):
global curr_table
global label
path = './' + label + '/weights'
g = Graph()
g.init_config(label, weight_file, topo_file)
g.bellman_on_src(label)
curr_table = g
print "Initial Table:\n" + str(curr_table.get_routes())
def earliest_ancestor(ancestors, starting_node):
graph = Graph()
# Add vertices
for i in ancestors:
if i[0] not in graph.vertices:
graph.add_vertex(i[0])
if i[1] not in graph.vertices:
graph.add_vertex(i[1])
# Add edges
for i in ancestors:
graph.add_edge(i[1], i[0])
path = graph.bft(starting_node)
oldest = path[-1]
if starting_node == oldest:
return -1
else:
return oldest
def earliest_ancestor(ancestors, starting_node):
graph = Graph()
for parent, child in ancestors:
vertices = graph.vertices
if parent not in vertices:
graph.add_vertex(parent)
if child not in vertices:
graph.add_vertex(child)
graph.add_edge(child, parent)
s = Stack()
s.push([starting_node])
longest = [starting_node]
visited = set()
oldest = -1
while s.size() > 0:
path = s.pop()
curr = path[-1]
# breakpoint()
if (len(path) > len(longest)) or (len(path) == len(longest)
and curr < oldest):
longest = path
oldest = longest[-1]
if curr not in visited:
visited.add(curr)
parents = graph.get_neighbors(curr)
for parent in parents:
new_path = path + [parent]
s.push(new_path)
return oldest
def earliest_ancestor(ancestors, starting_node):
ancestor_tree = Graph()
# Iterate through ancestors
for (parent, child) in ancestors:
# Add vertices to ancestor_tree
ancestor_tree.add_vertex(parent)
ancestor_tree.add_vertex(child)
# print("ancestor tree", ancestor_tree.vertices)
for (parent, child) in ancestors:
# Add edges
ancestor_tree.add_edge(child, parent)
# print("neighbors", ancestor_tree.get_neighbors(5))
# print("ancestor tree", ancestor_tree.vertices)
longest_path = 1 # Keep track of # ancestors; highest means most ancestors
earliest_ancestor = 0 # Store last node (as an integer)
for i in ancestor_tree.vertices:
# print("i", i) # Print vertices
# Call dfs function from Graph class
path = ancestor_tree.dfs(
i, starting_node) # i is each vertex/node in graph
# print("ancestor dfs", ancestor_tree.dfs(starting_node, i))
print('path', path)
if path: # If there are items in list
if len(
path
) > longest_path: # If list length is greater than longest path
longest_path = len(
path) # Set longest path equal to list length
earliest_ancestor = i # Set earliest_ancestor equal to current node/vertex
elif not path and longest_path == 1: # If path is 'None' and 'longest_path' is our default of 1
earliest_ancestor = -1
print("earliest ancestor", earliest_ancestor)
return earliest_ancestor
def earliest_ancestor(ancestors, starting_node):
ancestorTree = Graph()
# Iterate through ancestors to find vertices
# for (parent,child) in ancestors
for ancestor in ancestors:
for vert in ancestor:
ancestorTree.add_vertex(vert)
# print("Tree", ancestorTree.vertices)
for ancestor in ancestors:
ancestorTree.add_edge(ancestor[1], ancestor[0])
# print("Tree", ancestorTree.vertices)
# default length to check the length of path list against
longest_path = 1
# counter for storing storing the last node
last_node = 0
# passing the vertices by reference
ancestor_vert = ancestorTree.vertices
# Iterate through the vertices of the ancestorTree
for i in ancestor_vert:
# i = individual nodes/vertices added using add_vert()
# returns a list of nodes and sets the list to the variable path
path = ancestorTree.dfs(starting_node, i)
# print("path list loop", path)
# If path is not = to None and the length of the path list in greater that longest_path which defaults to the value integer 1
if path is not None and len(path) > longest_path:
# set longest_path = length of the path
longest_path = len(path)
print("longest_path", longest_path)
# last node is = to last node/vertice of the longest_path
last_node = i
print("last_node", last_node)
# I was missing that longest_path defaults to 1.
# If path list is empty and longest_path is set to default of 1
elif not path and longest_path == 1:
# print("empty", path)
# print("elif path", longest_path)
# set last_node to -1
last_node = -1
# print("Out of for loop", last_node)
return last_node
def earliest_ancestor(ancestors, current_vertex):
# create blank graph for ancestors
current_graph = Graph()
# loop through and add all ancestors
for ancestor in ancestors:
current_graph.add_vertex(ancestor[0])
current_graph.add_vertex(ancestor[1])
# loop through and add all edges
for ancestor in ancestors:
current_graph.add_edge(ancestor[1], ancestor[0])
max_path = 1
# if the input has no parents return -1
earliest_ancestor = -1
# create blank traversing path
traversing_path = Stack()
# Start traversing path with the first vertex
traversing_path.push([current_vertex])
# while traversing path not empty
while traversing_path.size() > 0:
# start traversed path
traversed_path = traversing_path.pop()
# get last vertex in the traversed path
last_vertex = traversed_path[-1]
# get length of traversed path
tp_length = len(traversed_path)
# (if traversed path is longer than or equal to max_path AND
# if last vertex is smaller than current earliest ancestor )
# ##### OR
# if traversed path is longer than max_path
if (tp_length >= max_path
and last_vertex < earliest_ancestor) or (tp_length > max_path):
# set earliest ancestor as last vertex
# set max path as last item in traversed path
earliest_ancestor = last_vertex
max_path = len(traversed_path)
# get neighbors of last vertex
neighbors = current_graph.vertices[last_vertex]
# loop through each neighbor
for neighbor in neighbors:
# get current path list, append neighbor to it, and add to traversing path
new_path = list(traversed_path)
new_path.append(neighbor)
traversing_path.push(new_path)
# return earliest ancestor
return earliest_ancestor
def earliest_ancestor(ancestors, starting_node):
'''
Build the graph
'''
# instantiate a new graph object
graph = Graph()
# loop over all pairs in ancestors
for pair in ancestors:
# add pair[0] and pair[1] to the graph
graph.add_vertex(pair[0])
graph.add_vertex(pair[1])
# build the edges in reverse
graph.add_edge(pair[1], pair[0])
'''
BFS with paths to find the earliest known ancestor
'''
# create a queue
queue = Queue()
# enqueue starting node inside a list
queue.enqueue([starting_node])
# set a max path length to 1
max_path_length = 1
# set initial earliest ancestor
earliest_ancestor = -1
# while the queue is not empty
while not queue.is_empty():
# dequeue to the path
path = queue.dequeue()
# set a vertex to the last item in the path
vertex = path[-1]
# if path is longer or equal and the value is smaller, or if the path is longer
if (len(path) >= max_path_length and
vertex < earliest_ancestor) or (len(path) > max_path_length):
# set the earliest ancestor to the vertex
earliest_ancestor = vertex
# set the max path length to the len of the path
max_path_length = len(path)
# loop over next vertex in the set of vertices for the current vertex
for next_vertex in graph.vertices[vertex]:
# set a new path equal to a new list of the path
path_copy = list(path)
# append next vertex to new path
path_copy.append(next_vertex)
# enqueue the new path
queue.enqueue(path_copy)
# return earliest ancestor
return earliest_ancestor
# roomGraph={0: [(3, 5), {'n': 1, 's': 5, 'e': 3, 'w': 7}], 1: [(3, 6), {'s': 0, 'n': 2}], 2: [(3, 7), {'s': 1}], 3: [(4, 5), {'w': 0, 'e': 4}], 4: [(5, 5), {'w': 3}], 5: [(3, 4), {'n': 0, 's': 6}], 6: [(3, 3), {'n': 5}], 7: [(2, 5), {'w': 8, 'e': 0}], 8: [(1, 5), {'e': 7}]}
# roomGraph={0: [(3, 5), {'n': 1, 's': 5, 'e': 3, 'w': 7}], 1: [(3, 6), {'s': 0, 'n': 2}], 2: [(3, 7), {'s': 1}], 3: [(4, 5), {'w': 0, 'e': 4}], 4: [(5, 5), {'w': 3}], 5: [(3, 4), {'n': 0, 's': 6}], 6: [(3, 3), {'n': 5, 'w': 11}], 7: [(2, 5), {'w': 8, 'e': 0}], 8: [(1, 5), {'e': 7}], 9: [(1, 4), {'n': 8, 's': 10}], 10: [(1, 3), {'n': 9, 'e': 11}], 11: [(2, 3), {'w': 10, 'e': 6}]}
# roomGraph={0: [(3, 5), {'n': 1, 's': 5, 'e': 3, 'w': 7}], 1: [(3, 6), {'s': 0, 'n': 2, 'e': 12, 'w': 15}], 2: [(3, 7), {'s': 1}], 3: [(4, 5), {'w': 0, 'e': 4}], 4: [(5, 5), {'w': 3}], 5: [(3, 4), {'n': 0, 's': 6}], 6: [(3, 3), {'n': 5, 'w': 11}], 7: [(2, 5), {'w': 8, 'e': 0}], 8: [(1, 5), {'e': 7}], 9: [(1, 4), {'n': 8, 's': 10}], 10: [(1, 3), {'n': 9, 'e': 11}], 11: [(2, 3), {'w': 10, 'e': 6}], 12: [(4, 6), {'w': 1, 'e': 13}], 13: [(5, 6), {'w': 12, 'n': 14}], 14: [(5, 7), {'s': 13}], 15: [(2, 6), {'e': 1, 'w': 16}], 16: [(1, 6), {'n': 17, 'e': 15}], 17: [(1, 7), {'s': 16}]}
roomGraph={494: [(1, 8), {'e': 457}], 492: [(1, 20), {'e': 400}], 493: [(2, 5), {'e': 478}], 457: [(2, 8), {'e': 355, 'w': 494}], 484: [(2, 9), {'n': 482}], 482: [(2, 10), {'s': 484, 'e': 404}], 486: [(2, 13), {'e': 462}], 479: [(2, 15), {'e': 418}], 465: [(2, 16), {'e': 368}], 414: [(2, 19), {'e': 365}], 400: [(2, 20), {'e': 399, 'w': 492}], 451: [(2, 21), {'e': 429}], 452: [(2, 22), {'e': 428}], 478: [(3, 5), {'e': 413, 'w': 493}], 393: [(3, 6), {'e': 375}], 437: [(3, 7), {'e': 347}], 355: [(3, 8), {'e': 312, 'w': 457}], 433: [(3, 9), {'e': 372}], 404: [(3, 10), {'n': 339, 'w': 482}], 339: [(3, 11), {'s': 404, 'e': 314}], 367: [(3, 12), {'n': 462, 'e': 344}], 462: [(3, 13), {'s': 367, 'w': 486}], 463: [(3, 14), {'e': 458, 'n': 418}], 418: [(3, 15), {'e': 349, 'w': 479}], 368: [(3, 16), {'n': 436, 'e': 284, 'w': 465}], 436: [(3, 17), {'s': 368}], 447: [(3, 18), {'n': 365}], 365: [(3, 19), {'s': 447, 'e': 333, 'w': 414}], 399: [(3, 20), {'e': 358, 'w': 400}], 429: [(3, 21), {'n': 428, 'w': 451}], 428: [(3, 22), {'s': 429, 'e': 411, 'w': 452}], 419: [(4, 4), {'n': 413}], 413: [(4, 5), {'n': 375, 's': 419, 'w': 478}], 375: [(4, 6), {'n': 347, 's': 413, 'w': 393}], 347: [(4, 7), {'n': 312, 's': 375, 'w': 437}], 312: [(4, 8), {'s': 347, 'e': 299, 'w': 355}], 372: [(4, 9), {'e': 263, 'w': 433}], 258: [(4, 10), {'e': 236}], 314: [(4, 11), {'e': 220, 'w': 339}], 344: [(4, 12), {'n': 359, 'e': 230, 'w': 367}], 359: [(4, 13), {'n': 458, 's': 344}], 458: [(4, 14), {'s': 359, 'w': 463}], 349: [(4, 15), {'n': 284, 'w': 418}], 284: [(4, 16), {'n': 470, 's': 349, 'e': 254, 'w': 368}], 470: [(4, 17), {'s': 284}], 301: [(4, 18), {'e': 187}], 333: [(4, 19), {'n': 358, 'e': 303, 'w': 365}], 358: [(4, 20), {'n': 397, 's': 333, 'w': 399}], 397: [(4, 21), {'s': 358}], 411: [(4, 22), {'e': 324, 'w': 428}], 396: [(4, 23), {'e': 391}], 449: [(5, 4), {'n': 432, 'e': 450}], 432: [(5, 5), {'n': 405, 's': 449, 'e': 473}], 405: [(5, 6), {'n': 356, 's': 432}], 356: [(5, 7), {'n': 299, 's': 405}], 299: [(5, 8), {'n': 263, 's': 356, 'w': 312}], 263: [(5, 9), {'n': 236, 's': 299, 'w': 372}], 236: [(5, 10), {'s': 263, 'e': 216, 'w': 258}], 220: [(5, 11), {'n': 230, 'e': 215, 'w': 314}], 230: [(5, 12), {'s': 220, 'w': 344}], 266: [(5, 13), {'n': 379, 'e': 260}], 379: [(5, 14), {'s': 266}], 274: [(5, 15), {'e': 222}], 254: [(5, 16), {'e': 205, 'w': 284}], 227: [(5, 17), {'e': 194}], 187: [(5, 18), {'n': 303, 'e': 167, 'w': 301}], 303: [(5, 19), {'n': 352, 's': 187, 'w': 333}], 352: [(5, 20), {'s': 303}], 357: [(5, 21), {'e': 342}], 324: [(5, 22), {'n': 391, 'e': 289, 'w': 411}], 391: [(5, 23), {'n': 489, 's': 324, 'w': 396}], 489: [(5, 24), {'n': 491, 's': 391}], 491: [(5, 25), {'s': 489}], 450: [(6, 4), {'w': 449}], 473: [(6, 5), {'w': 432}], 423: [(6, 6), {'e': 395}], 469: [(6, 7), {'e': 362}], 310: [(6, 8), {'n': 271}], 271: [(6, 9), {'s': 310, 'e': 217}], 216: [(6, 10), {'e': 213, 'w': 236}], 215: [(6, 11), {'n': 243, 'e': 177, 'w': 220}], 243: [(6, 12), {'s': 215}], 260: [(6, 13), {'n': 226, 'w': 266}], 226: [(6, 14), {'s': 260, 'e': 225}], 222: [(6, 15), {'e': 190, 'w': 274}], 205: [(6, 16), {'e': 162, 'w': 254}], 194: [(6, 17), {'e': 128, 'w': 227}], 167: [(6, 18), {'e': 108, 'w': 187}], 171: [(6, 19), {'e': 168}], 297: [(6, 20), {'e': 207}], 342: [(6, 21), {'e': 221, 'w': 357}], 289: [(6, 22), {'n': 319, 'e': 250, 'w': 324}], 319: [(6, 23), {'n': 441, 's': 289}], 441: [(6, 24), {'s': 319}], 453: [(6, 25), {'e': 351}], 395: [(7, 6), {'n': 362, 'w': 423}], 362: [(7, 7), {'n': 327, 's': 395, 'w': 469}], 327: [(7, 8), {'s': 362, 'e': 256}], 217: [(7, 9), {'n': 213, 'w': 271}], 213: [(7, 10), {'s': 217, 'e': 209, 'w': 216}], 177: [(7, 11), {'e': 156, 'w': 215}], 180: [(7, 12), {'e': 164}], 235: [(7, 13), {'e': 158}], 225: [(7, 14), {'e': 105, 'w': 226}], 190: [(7, 15), {'e': 129, 'w': 222}], 162: [(7, 16), {'n': 128, 'w': 205}], 128: [(7, 17), {'s': 162, 'e': 92, 'w': 194}], 108: [(7, 18), {'e': 81, 'w': 167}], 168: [(7, 19), {'n': 207, 'e': 137, 'w': 171}], 207: [(7, 20), {'s': 168, 'w': 297}], 221: [(7, 21), {'n': 250, 'e': 174, 'w': 342}], 250: [(7, 22), {'n': 295, 's': 221, 'w': 289}], 295: [(7, 23), {'n': 332, 's': 250}], 332: [(7, 24), {'n': 351, 's': 295}], 351: [(7, 25), {'n': 417, 's': 332, 'w': 453}], 417: [(7, 26), {'n': 442, 's': 351}], 442: [(7, 27), {'s': 417}], 410: [(8, 5), {'e': 406}], 323: [(8, 6), {'n': 279}], 279: [(8, 7), {'n': 256, 's': 323}], 256: [(8, 8), {'n': 241, 's': 279, 'w': 327}], 241: [(8, 9), {'s': 256, 'e': 193}], 209: [(8, 10), {'n': 156, 'w': 213}], 156: [(8, 11), {'s': 209, 'e': 149, 'w': 177}], 164: [(8, 12), {'n': 158, 'w': 180}], 158: [(8, 13), {'s': 164, 'e': 126, 'w': 235}], 105: [(8, 14), {'n': 129, 'e': 104, 'w': 225}], 129: [(8, 15), {'s': 105, 'w': 190}], 100: [(8, 16), {'n': 92}], 92: [(8, 17), {'n': 81, 's': 100, 'w': 128}], 81: [(8, 18), {'n': 137, 's': 92, 'e': 45, 'w': 108}], 137: [(8, 19), {'s': 81, 'w': 168}], 124: [(8, 20), {'n': 174, 'e': 112}], 174: [(8, 21), {'n': 277, 's': 124, 'w': 221}], 277: [(8, 22), {'n': 331, 's': 174}], 331: [(8, 23), {'n': 387, 's': 277}], 387: [(8, 24), {'n': 444, 's': 331}], 444: [(8, 25), {'s': 387}], 422: [(8, 26), {'n': 461, 'e': 394}], 461: [(8, 27), {'s': 422}], 406: [(9, 5), {'n': 315, 'w': 410}], 315: [(9, 6), {'n': 269, 's': 406, 'e': 335}], 269: [(9, 7), {'n': 203, 's': 315}], 203: [(9, 8), {'n': 193, 's': 269}], 193: [(9, 9), {'n': 191, 's': 203, 'w': 241}], 191: [(9, 10), {'n': 149, 's': 193}], 149: [(9, 11), {'n': 135, 's': 191, 'w': 156}], 135: [(9, 12), {'n': 126, 's': 149}], 126: [(9, 13), {'n': 104, 's': 135, 'w': 158}], 104: [(9, 14), {'n': 89, 's': 126, 'w': 105}], 89: [(9, 15), {'n': 72, 's': 104}], 72: [(9, 16), {'n': 69, 's': 89}], 69: [(9, 17), {'s': 72, 'e': 41}], 45: [(9, 18), {'n': 85, 'e': 40, 'w': 81}], 85: [(9, 19), {'s': 45}], 112: [(9, 20), {'n': 210, 'e': 106, 'w': 124}], 210: [(9, 21), {'s': 112}], 208: [(9, 22), {'n': 307, 'e': 166}], 307: [(9, 23), {'s': 208}], 341: [(9, 24), {'e': 316}], 374: [(9, 25), {'e': 340}], 394: [(9, 26), {'n': 426, 'e': 318, 'w': 422}], 426: [(9, 27), {'s': 394}], 477: [(9, 29), {'e': 443}], 485: [(10, 3), {'e': 481}], 346: [(10, 5), {'n': 335}], 335: [(10, 6), {'s': 346, 'e': 378, 'w': 315}], 369: [(10, 7), {'n': 247}], 247: [(10, 8), {'s': 369, 'e': 234}], 151: [(10, 9), {'n': 188, 'e': 133}], 188: [(10, 10), {'s': 151}], 183: [(10, 11), {'n': 145}], 145: [(10, 12), {'s': 183, 'e': 113}], 122: [(10, 13), {'n': 99}], 99: [(10, 14), {'n': 83, 's': 122}], 83: [(10, 15), {'s': 99, 'e': 80}], 76: [(10, 16), {'n': 41}], 41: [(10, 17), {'s': 76, 'e': 36, 'w': 69}], 40: [(10, 18), {'n': 74, 'e': 19, 'w': 45}], 74: [(10, 19), {'s': 40}], 106: [(10, 20), {'n': 161, 'e': 79, 'w': 112}], 161: [(10, 21), {'n': 166, 's': 106}], 166: [(10, 22), {'s': 161, 'w': 208}], 292: [(10, 23), {'n': 316, 'e': 185}], 316: [(10, 24), {'s': 292, 'w': 341}], 340: [(10, 25), {'n': 318, 'w': 374}], 318: [(10, 26), {'s': 340, 'e': 199, 'w': 394}], 392: [(10, 27), {'n': 408, 'e': 281}], 408: [(10, 28), {'n': 443, 's': 392}], 443: [(10, 29), {'s': 408, 'w': 477}], 481: [(11, 3), {'n': 472, 'w': 485}], 472: [(11, 4), {'n': 466, 's': 481, 'e': 495}], 466: [(11, 5), {'n': 378, 's': 472}], 378: [(11, 6), {'s': 466, 'w': 335}], 280: [(11, 7), {'n': 234}], 234: [(11, 8), {'n': 133, 's': 280, 'e': 259, 'w': 247}], 133: [(11, 9), {'s': 234, 'e': 118, 'w': 151}], 157: [(11, 10), {'e': 110}], 153: [(11, 11), {'e': 97}], 113: [(11, 12), {'e': 94, 'w': 145}], 68: [(11, 13), {'e': 57}], 58: [(11, 14), {'e': 23}], 80: [(11, 15), {'n': 11, 'w': 83}], 11: [(11, 16), {'s': 80, 'e': 3}], 36: [(11, 17), {'e': 21, 'w': 41}], 19: [(11, 18), {'n': 32, 'e': 15, 'w': 40}], 32: [(11, 19), {'s': 19}], 79: [(11, 20), {'e': 46, 'w': 106}], 63: [(11, 21), {'n': 140, 'e': 61}], 140: [(11, 22), {'s': 63}], 185: [(11, 23), {'n': 195, 'e': 155, 'w': 292}], 195: [(11, 24), {'s': 185}], 328: [(11, 25), {'e': 200}], 199: [(11, 26), {'n': 281, 'e': 197, 'w': 318}], 281: [(11, 27), {'n': 350, 's': 199, 'w': 392}], 350: [(11, 28), {'n': 425, 's': 281}], 425: [(11, 29), {'n': 434, 's': 350}], 434: [(11, 30), {'s': 425}], 495: [(12, 4), {'w': 472}], 415: [(12, 5), {'n': 306}], 306: [(12, 6), {'n': 291, 's': 415}], 291: [(12, 7), {'n': 259, 's': 306}], 259: [(12, 8), {'s': 291, 'w': 234}], 118: [(12, 9), {'n': 110, 'e': 218, 'w': 133}], 110: [(12, 10), {'n': 97, 's': 118, 'w': 157}], 97: [(12, 11), {'n': 94, 's': 110, 'w': 153}], 94: [(12, 12), {'n': 57, 's': 97, 'w': 113}], 57: [(12, 13), {'n': 23, 's': 94, 'w': 68}], 23: [(12, 14), {'s': 57, 'e': 6, 'w': 58}], 16: [(12, 15), {'e': 8}], 3: [(12, 16), {'n': 21, 'e': 0, 'w': 11}], 21: [(12, 17), {'s': 3, 'w': 36}], 15: [(12, 18), {'e': 13, 'w': 19}], 47: [(12, 19), {'e': 14}], 46: [(12, 20), {'n': 61, 'e': 17, 'w': 79}], 61: [(12, 21), {'n': 82, 's': 46, 'w': 63}], 82: [(12, 22), {'n': 155, 's': 61}], 155: [(12, 23), {'s': 82, 'w': 185}], 175: [(12, 24), {'n': 200, 'e': 141}], 200: [(12, 25), {'s': 175, 'e': 204, 'w': 328}], 197: [(12, 26), {'e': 165, 'w': 199}], 223: [(12, 27), {'n': 483, 'e': 169}], 483: [(12, 28), {'s': 223}], 488: [(13, 4), {'n': 409}], 409: [(13, 5), {'n': 345, 's': 488}], 345: [(13, 6), {'n': 261, 's': 409}], 261: [(13, 7), {'n': 252, 's': 345}], 252: [(13, 8), {'n': 218, 's': 261}], 218: [(13, 9), {'n': 144, 's': 252, 'w': 118}], 144: [(13, 10), {'n': 134, 's': 218}], 134: [(13, 11), {'n': 65, 's': 144}], 65: [(13, 12), {'n': 62, 's': 134}], 62: [(13, 13), {'n': 6, 's': 65}], 6: [(13, 14), {'s': 62, 'e': 5, 'w': 23}], 8: [(13, 15), {'n': 0, 'w': 16}], 0: [(13, 16), {'n': 4, 's': 8, 'e': 1, 'w': 3}], 4: [(13, 17), {'s': 0}], 13: [(13, 18), {'n': 14, 'e': 9, 'w': 15}], 14: [(13, 19), {'n': 17, 's': 13, 'w': 47}], 17: [(13, 20), {'n': 33, 's': 14, 'e': 28, 'w': 46}], 33: [(13, 21), {'s': 17}], 102: [(13, 22), {'n': 107, 'e': 64}], 107: [(13, 23), {'n': 141, 's': 102}], 141: [(13, 24), {'s': 107, 'w': 175}], 204: [(13, 25), {'w': 200}], 165: [(13, 26), {'n': 169, 'e': 163, 'w': 197}], 169: [(13, 27), {'n': 385, 's': 165, 'w': 223}], 385: [(13, 28), {'s': 169}], 497: [(13, 30), {'e': 366}], 424: [(14, 4), {'n': 322}], 322: [(14, 5), {'s': 424, 'e': 276}], 290: [(14, 6), {'n': 264}], 264: [(14, 7), {'n': 244, 's': 290}], 244: [(14, 8), {'s': 264, 'e': 232}], 181: [(14, 9), {'n': 179}], 179: [(14, 10), {'n': 96, 's': 181, 'e': 201}], 96: [(14, 11), {'n': 66, 's': 179}], 66: [(14, 12), {'n': 50, 's': 96}], 50: [(14, 13), {'n': 5, 's': 66, 'e': 70}], 5: [(14, 14), {'n': 2, 's': 50, 'w': 6}], 2: [(14, 15), {'n': 1, 's': 5, 'e': 10}], 1: [(14, 16), {'n': 7, 's': 2, 'e': 22, 'w': 0}], 7: [(14, 17), {'n': 9, 's': 1, 'e': 12}], 9: [(14, 18), {'s': 7, 'w': 13}], 30: [(14, 19), {'n': 28}], 28: [(14, 20), {'n': 60, 's': 30, 'w': 17}], 60: [(14, 21), {'n': 64, 's': 28}], 64: [(14, 22), {'n': 111, 's': 60, 'w': 102}], 111: [(14, 23), {'n': 121, 's': 64, 'e': 114}], 121: [(14, 24), {'n': 148, 's': 111, 'e': 123}], 148: [(14, 25), {'n': 163, 's': 121, 'e': 178}], 163: [(14, 26), {'n': 257, 's': 148, 'e': 228, 'w': 165}], 257: [(14, 27), {'n': 388, 's': 163}], 388: [(14, 28), {'s': 257, 'n': 386}], 386: [(14, 29), {'e': 354, 's': 388}], 366: [(14, 30), {'e': 361, 'w': 497}], 467: [(15, 3), {'n': 459}], 459: [(15, 4), {'n': 276, 's': 467}], 276: [(15, 5), {'n': 268, 's': 459, 'w': 322}], 268: [(15, 6), {'n': 265, 's': 276}], 265: [(15, 7), {'n': 232, 's': 268, 'e': 273}], 232: [(15, 8), {'n': 206, 's': 265, 'w': 244}], 206: [(15, 9), {'n': 201, 's': 232}], 201: [(15, 10), {'s': 206, 'w': 179}], 159: [(15, 11), {'n': 116}], 116: [(15, 12), {'n': 70, 's': 159}], 70: [(15, 13), {'s': 116, 'e': 87, 'w': 50}], 38: [(15, 14), {'n': 10}], 10: [(15, 15), {'s': 38, 'w': 2}], 22: [(15, 16), {'w': 1}], 12: [(15, 17), {'n': 20, 'e': 18, 'w': 7}], 20: [(15, 18), {'n': 31, 's': 12, 'e': 26}], 31: [(15, 19), {'n': 37, 's': 20}], 37: [(15, 20), {'n': 91, 's': 31, 'e': 42}], 91: [(15, 21), {'n': 101, 's': 37}], 101: [(15, 22), {'s': 91}], 114: [(15, 23), {'e': 120, 'w': 111}], 123: [(15, 24), {'e': 138, 'w': 121}], 178: [(15, 25), {'w': 148}], 228: [(15, 26), {'n': 253, 'w': 163}], 253: [(15, 27), {'n': 285, 's': 228}], 285: [(15, 28), {'s': 253}], 354: [(15, 29), {'n': 361, 'e': 321, 'w': 386}], 361: [(15, 30), {'s': 354, 'w': 366}], 455: [(16, 4), {'n': 382}], 382: [(16, 5), {'n': 296, 's': 455}], 296: [(16, 6), {'n': 273, 's': 382, 'e': 308}], 273: [(16, 7), {'s': 296, 'e': 298, 'w': 265}], 237: [(16, 8), {'n': 229, 'e': 370}], 229: [(16, 9), {'n': 212, 's': 237}], 212: [(16, 10), {'n': 127, 's': 229}], 127: [(16, 11), {'n': 117, 's': 212, 'e': 173}], 117: [(16, 12), {'n': 87, 's': 127, 'e': 170}], 87: [(16, 13), {'s': 117, 'w': 70}], 54: [(16, 14), {'n': 29}], 29: [(16, 15), {'n': 24, 's': 54}], 24: [(16, 16), {'n': 18, 's': 29, 'e': 25}], 18: [(16, 17), {'s': 24, 'e': 34, 'w': 12}], 26: [(16, 18), {'n': 27, 'w': 20}], 27: [(16, 19), {'s': 26, 'e': 55}], 42: [(16, 20), {'n': 51, 'w': 37}], 51: [(16, 21), {'n': 93, 's': 42}], 93: [(16, 22), {'s': 51}], 120: [(16, 23), {'w': 114}], 138: [(16, 24), {'n': 143, 'e': 139, 'w': 123}], 143: [(16, 25), {'s': 138}], 233: [(16, 26), {'n': 240, 'e': 152}], 240: [(16, 27), {'n': 304, 's': 233}], 304: [(16, 28), {'n': 321, 's': 240}], 321: [(16, 29), {'n': 334, 's': 304, 'w': 354}], 334: [(16, 30), {'s': 321, 'e': 384}], 416: [(17, 4), {'n': 317}], 317: [(17, 5), {'n': 308, 's': 416}], 308: [(17, 6), {'s': 317, 'e': 337, 'w': 296}], 298: [(17, 7), {'e': 360, 'w': 273}], 370: [(17, 8), {'w': 237}], 267: [(17, 9), {'n': 202, 'e': 302}], 202: [(17, 10), {'n': 173, 's': 267, 'e': 249}], 173: [(17, 11), {'s': 202, 'w': 127}], 170: [(17, 12), {'n': 182, 'w': 117}], 182: [(17, 13), {'s': 170, 'e': 211}], 77: [(17, 14), {'n': 43, 'e': 130}], 43: [(17, 15), {'n': 25, 's': 77, 'e': 49}], 25: [(17, 16), {'s': 43, 'w': 24}], 34: [(17, 17), {'n': 35, 'e': 39, 'w': 18}], 35: [(17, 18), {'s': 34, 'e': 44}], 55: [(17, 19), {'n': 56, 'w': 27}], 56: [(17, 20), {'n': 73, 's': 55, 'e': 67}], 73: [(17, 21), {'n': 132, 's': 56}], 132: [(17, 22), {'n': 172, 's': 73}], 172: [(17, 23), {'s': 132}], 139: [(17, 24), {'n': 147, 'e': 176, 'w': 138}], 147: [(17, 25), {'n': 152, 's': 139, 'e': 154}], 152: [(17, 26), {'n': 196, 's': 147, 'w': 233}], 196: [(17, 27), {'n': 278, 's': 152, 'e': 224}], 278: [(17, 28), {'n': 338, 's': 196}], 338: [(17, 29), {'s': 278}], 384: [(17, 30), {'e': 435, 'w': 334}], 460: [(18, 4), {'n': 383}], 383: [(18, 5), {'n': 337, 's': 460}], 337: [(18, 6), {'s': 383, 'w': 308}], 360: [(18, 7), {'n': 364, 'w': 298}], 364: [(18, 8), {'s': 360, 'e': 401}], 302: [(18, 9), {'e': 402, 'w': 267}], 249: [(18, 10), {'w': 202}], 272: [(18, 11), {'n': 248}], 248: [(18, 12), {'n': 211, 's': 272}], 211: [(18, 13), {'s': 248, 'w': 182}], 130: [(18, 14), {'w': 77}], 49: [(18, 15), {'e': 119, 'w': 43}], 52: [(18, 16), {'n': 39}], 39: [(18, 17), {'s': 52, 'e': 71, 'w': 34}], 44: [(18, 18), {'n': 48, 'e': 59, 'w': 35}], 48: [(18, 19), {'s': 44, 'e': 53}], 67: [(18, 20), {'n': 84, 'w': 56}], 84: [(18, 21), {'n': 86, 's': 67}], 86: [(18, 22), {'n': 146, 's': 84, 'e': 95}], 146: [(18, 23), {'s': 86}], 176: [(18, 24), {'w': 139}], 154: [(18, 25), {'n': 192, 'e': 184, 'w': 147}], 192: [(18, 26), {'s': 154, 'e': 239}], 224: [(18, 27), {'n': 287, 'w': 196}], 287: [(18, 28), {'n': 313, 's': 224, 'e': 353}], 313: [(18, 29), {'s': 287}], 435: [(18, 30), {'w': 384}], 464: [(19, 6), {'n': 420}], 420: [(19, 7), {'n': 401, 's': 464}], 401: [(19, 8), {'s': 420, 'e': 427, 'w': 364}], 402: [(19, 9), {'e': 403, 'w': 302}], 371: [(19, 10), {'n': 309, 'e': 430}], 309: [(19, 11), {'n': 286, 's': 371, 'e': 377}], 286: [(19, 12), {'n': 242, 's': 309, 'e': 288}], 242: [(19, 13), {'n': 219, 's': 286}], 219: [(19, 14), {'n': 119, 's': 242, 'e': 305}], 119: [(19, 15), {'s': 219, 'e': 131, 'w': 49}], 115: [(19, 16), {'n': 71, 'e': 160}], 71: [(19, 17), {'s': 115, 'e': 150, 'w': 39}], 59: [(19, 18), {'e': 189, 'w': 44}], 53: [(19, 19), {'n': 75, 'w': 48}], 75: [(19, 20), {'n': 78, 's': 53, 'e': 88}], 78: [(19, 21), {'s': 75, 'e': 90}], 95: [(19, 22), {'n': 109, 'w': 86}], 109: [(19, 23), {'n': 136, 's': 95}], 136: [(19, 24), {'s': 109, 'e': 231}], 184: [(19, 25), {'w': 154}], 239: [(19, 26), {'n': 255, 'e': 336, 'w': 192}], 255: [(19, 27), {'s': 239}], 353: [(19, 28), {'n': 380, 'w': 287}], 380: [(19, 29), {'n': 476, 's': 353, 'e': 445}], 476: [(19, 30), {'s': 380}], 496: [(20, 4), {'n': 475}], 475: [(20, 5), {'n': 448, 's': 496}], 448: [(20, 6), {'n': 438, 's': 475, 'e': 490}], 438: [(20, 7), {'n': 427, 's': 448}], 427: [(20, 8), {'s': 438, 'e': 474, 'w': 401}], 403: [(20, 9), {'e': 439, 'w': 402}], 430: [(20, 10), {'e': 440, 'w': 371}], 377: [(20, 11), {'e': 456, 'w': 309}], 288: [(20, 12), {'n': 326, 'e': 498, 'w': 286}], 326: [(20, 13), {'s': 288}], 305: [(20, 14), {'e': 330, 'w': 219}], 131: [(20, 15), {'e': 329, 'w': 119}], 160: [(20, 16), {'e': 214, 'w': 115}], 150: [(20, 17), {'e': 251, 'w': 71}], 189: [(20, 18), {'e': 275, 'w': 59}], 103: [(20, 19), {'n': 88}], 88: [(20, 20), {'s': 103, 'e': 125, 'w': 75}], 90: [(20, 21), {'n': 98, 'e': 142, 'w': 78}], 98: [(20, 22), {'n': 186, 's': 90}], 186: [(20, 23), {'s': 98, 'e': 262}], 231: [(20, 24), {'n': 282, 'e': 294, 'w': 136}], 282: [(20, 25), {'s': 231}], 336: [(20, 26), {'n': 373, 'e': 421, 'w': 239}], 373: [(20, 27), {'s': 336}], 480: [(20, 28), {'n': 445}], 445: [(20, 29), {'s': 480, 'e': 446, 'w': 380}], 490: [(21, 6), {'w': 448}], 474: [(21, 8), {'w': 427}], 439: [(21, 9), {'w': 403}], 440: [(21, 10), {'w': 430}], 456: [(21, 11), {'w': 377}], 498: [(21, 12), {'w': 288}], 348: [(21, 13), {'n': 330}], 330: [(21, 14), {'s': 348, 'e': 454, 'w': 305}], 329: [(21, 15), {'e': 407, 'w': 131}], 214: [(21, 16), {'e': 246, 'w': 160}], 251: [(21, 17), {'w': 150}], 275: [(21, 18), {'e': 283, 'w': 189}], 198: [(21, 19), {'n': 125, 'e': 270}], 125: [(21, 20), {'s': 198, 'e': 238, 'w': 88}], 142: [(21, 21), {'n': 245, 'w': 90}], 245: [(21, 22), {'s': 142, 'e': 343}], 262: [(21, 23), {'e': 390, 'w': 186}], 294: [(21, 24), {'n': 363, 'e': 311, 'w': 231}], 363: [(21, 25), {'s': 294}], 421: [(21, 26), {'w': 336}], 446: [(21, 29), {'w': 445}], 454: [(22, 14), {'w': 330}], 407: [(22, 15), {'w': 329}], 246: [(22, 16), {'n': 325, 'e': 412, 'w': 214}], 325: [(22, 17), {'s': 246}], 283: [(22, 18), {'e': 376, 'w': 275}], 270: [(22, 19), {'e': 300, 'w': 198}], 238: [(22, 20), {'n': 381, 'e': 293, 'w': 125}], 381: [(22, 21), {'s': 238, 'e': 431}], 343: [(22, 22), {'w': 245}], 390: [(22, 23), {'e': 398, 'w': 262}], 311: [(22, 24), {'n': 389, 'e': 499, 'w': 294}], 389: [(22, 25), {'s': 311}], 412: [(23, 16), {'w': 246}], 468: [(23, 17), {'n': 376}], 376: [(23, 18), {'s': 468, 'w': 283}], 300: [(23, 19), {'e': 320, 'w': 270}], 293: [(23, 20), {'w': 238}], 431: [(23, 21), {'w': 381}], 487: [(23, 22), {'n': 398}], 398: [(23, 23), {'s': 487, 'w': 390}], 499: [(23, 24), {'w': 311}], 471: [(24, 18), {'n': 320}], 320: [(24, 19), {'s': 471, 'w': 300}]}
world.loadGraph(roomGraph)
# UNCOMMENT TO VIEW MAP
# world.printRooms()
player = Player("Name", world.startingRoom)
# Fill this out
traversalPath = []
path_by_ids = []
graph = Graph()
visited_rooms = set()
identified_rooms = set()
dir_stack = Stack()
#Need a way to back track when reach deadends
def reverse_dir(direction):
if direction == 'n':
return 's'
if direction == 's':
return 'n'
if direction == 'e':
return 'w'
if direction == 'w':
return 'e'
dotenv_path = join(dirname(__file__), '.env')
load_dotenv(dotenv_path)
travels_log = open("./travels_log.txt", "a+")
items_log = open("./items.json", "a+")
found_items = set()
wearing_boots = False
wearing_jacket = False
api_key = os.environ.get("API_KEY")
# base_url = "https://treasure-hunt-test.herokuapp.com/api/adv"
base_url = "https://lambda-treasure-hunt.herokuapp.com/api/adv"
headers = {"Authorization": f"Token {api_key}"}
graph = Graph()
r = requests.get(f"{base_url}/init/", headers=headers).json()
print(r)
print(f"Starting room: {r['room_id']}")
time.sleep(15)
travels_log.write(json.dumps(r) + ",")
player = {}
player_current_room = graph.add_room(r)
# Seed for the pseudorandom number generator
seed = 386839
# Seed the random number generator for reproducible results
random.seed(seed)
from util import getInsert, Graph, dijsktra
#ins = sys.stdin.readlines()
ins = [
'dl\n', 'format=edgelist1\n', 'n=5\n', 'data:\n', '1 3 78.250\n',
'2 3 76.750\n', '3 5 63.500\n', '3 2 51.250\n', '3 1 62.875\n',
'4 3 13.625\n', '4 2 1.625\n', '4 1 14.125\n', '5 2 10.875\n', '5 1 40.000'
]
#Inicializando as arestas e o número de vértices:
edges, n = getInsert(ins)
#Criando os vértices:
vertices = [v for v in range(1, (n + 1))]
graph = Graph()
#Populando os nós do Grafo:
for v in vertices:
graph.add_node(v)
#Populando as arestas do Grafo:
for e in edges:
graph.add_edge(e[1], e[2], e[0])
#Executando Dijkstra:
visited, path = dijsktra(graph, 1)
#Imprimindo o resultado:
for vertex in graph.nodes:
try:
import json
import requests
from urls import base, end, post, get
import os
from random import choice
from util import Queue, Stack, Graph, reverse_dirs
# importing token and init endpoint
# auth header
# init endpoint - loads current room
data = get(end['init'])
gr = Graph()
gr.add_vertex(data)
# print(gr.rooms)
# map_data = {}
# map_data[data['room_id']] = data
# print("map_data", map_data)
"""
{room_id: {title: "foo", terrain: "bar"}}
"""
visited = set()
while True:
dfs = gr.dfs(data)
curr_room = gr.rooms[dfs[-1]]
for room_id in dfs:
visited.add(room_id)
class EST(ProblemSpec):
def __init__(self, input_file):
super(EST, self).__init__(input_file)
self.gInit = Graph()
self.gGoal = Graph()
self.Setting = self.caseSetting()
# False-> no collision, True -> have collision
# input A,B array
def collision_check(self, A, B, n, checkList):
if n <= 0:
return False
# check in the same ee grapple
if (A[0] != B[0] or A[1] != B[1] or A[-1] != B[-1]):
return False
tester = test_robot(self)
mid = (A + B) / 2
mid[-1] = A[-1]
midRobot = make_robot_config_with_arr(
A[0], A[1], mid[2:(2 + self.num_segments)],
mid[(2 + self.num_segments):(2 + 2 * self.num_segments)], A[-1])
# print(midRobot)
# checkList.append(str(midRobot))
if not tester.self_obstacle_env_test(midRobot):
return True # have collision
flagA = self.collision_check(A, mid, n - 1, checkList)
flagB = self.collision_check(mid, B, n - 1, checkList)
return flagA or flagB
def sampling_eexy(self, eexy, numSampling, ee1Flag, diffAng):
# np.random.seed(249)
minMax = self.get_min_max_len()
numSeg = self.get_num_segment()
# diffAng = self.Setting["angDiff"]
if ee1Flag:
grapples_tmp = np.zeros((numSampling, 1))
else:
grapples_tmp = np.ones((numSampling, 1))
grapples = []
angles = np.zeros((numSampling, numSeg))
lengths = np.zeros((numSampling, numSeg))
for i in range(numSeg):
if i == 0:
# angles[:,i] = np.random.rand(1,numSampling)*360 - 180
qq = np.round(np.random.rand(1, numSampling))
qq1 = np.absolute(qq - 1)
qqtmp = qq * (np.random.rand(1, numSampling) * diffAng[0][0] -
diffAng[0][1])
qqtmp1 = qq1 * (np.random.rand(1, numSampling) * diffAng[1][0]
- diffAng[1][1])
angles[:, i] = qqtmp + qqtmp1
# angles[:,i] = np.random.rand(1,numSampling)*diffAng[0] - diffAng[1]
else:
angles[:, i] = np.random.rand(1, numSampling) * 330 - 165
tmp = np.random.rand(1,
numSampling) * (minMax[1][i] - minMax[0][i])
lengths[:, i] = tmp + minMax[0][i]
for i in range(numSampling):
grapples.append(list(eexy))
output = np.append(np.asarray(grapples), angles, axis=1)
output = np.append(output, lengths, axis=1)
output = np.append(output, grapples_tmp, axis=1)
return output
def checkhv_ee(self, eexy):
# 0->up, 1 -> down, 2-> left, 3-> right
ob = self.obstacles
for i in ob:
if i.check_in_obstacle_range(eexy[0], eexy[1]):
# up
if abs(eexy[1] - i.y2) <= 0.05:
return [[180, 0], [180, 0]]
# down
elif abs(eexy[1] - i.y1) <= 0.05:
return [[-180, 0], [-180, 0]]
# left
elif abs(eexy[0] - i.x1) <= 0.05:
return [[90, -90], [-90, 90]]
# right
elif abs(eexy[0] - i.x2) <= 0.05:
return [[90, 0], [-90, 0]]
break
def sampling(self, numSampling):
# np.random.seed(30)
minMax = self.get_min_max_len()
numSeg = self.get_num_segment()
grapple_point = self.get_grapple_points()
grapples_tmp = (np.floor(
np.random.rand(1, numSampling) * len(grapple_point)))
grapples = []
angles = np.zeros((numSampling, numSeg))
lengths = np.zeros((numSampling, numSeg))
for i in range(numSeg):
if i == 0:
# angles[:,i] = np.random.rand(1,numSampling)*360 - 180
angles[:, i] = np.random.rand(1, numSampling) * 180
else:
angles[:, i] = np.random.rand(1, numSampling) * 330 - 165
tmp = np.random.rand(1,
numSampling) * (minMax[1][i] - minMax[0][i])
lengths[:, i] = tmp + minMax[0][i]
for i in range(numSampling):
grapples.append(list(grapple_point[int(grapples_tmp[0][i])]))
output = np.append(np.asarray(grapples), angles, axis=1)
output = np.append(output, lengths, axis=1)
grapples_tmp = grapples_tmp.reshape(numSampling, 1)
output = np.append(output, grapples_tmp, axis=1)
# print(output)
return output
def caseSetting(self):
Setting = {}
points = self.grapple_points
# 3g2_m1,3g2_m2
if self.num_grapple_points == 2:
# Setting['np-rd']=1249901
Setting['np-rd'] = 30
Setting['random'] = 1000
# Setting['np-rd']=9532
# Setting['random']=22938921
Setting['ee1Flag'] = [True, False]
Setting['numberSamples_global'] = 1000
Setting['numberSamples_local'] = 200
Setting['numChange'] = 1
Setting['angConstraint'] = [[0, 100], [0, -90], [0, -90]]
Setting['layer'] = 2
Setting['tau'] = 0.4
Setting['collision_tau'] = 10000.0
return Setting
# 4g4_m2, 4g4_m3
elif self.num_grapple_points == 4 and points[0][0] == 0.245 and points[
0][1] == 0.5:
Setting['np-rd'] = 1249901
Setting['random'] = 22938921
Setting['ee1Flag'] = [True, False, False, True]
Setting['numberSamples_global'] = 1000
Setting['numberSamples_local'] = 500
Setting['numChange'] = 2
Setting['angConstraint'] = [[90, 180], [0, -120], [-90, 10],
[45, 90]]
Setting['layer'] = 2
Setting['tau'] = 0.4
Setting['collision_tau'] = 1.0
return Setting
# 4g4_m1,
elif self.num_grapple_points == 4 and points[0][0] == 0.5 and points[
0][1] == 0.1:
Setting['np-rd'] = 1249901
Setting['random'] = 22938921
Setting['ee1Flag'] = [True, False, True, False]
Setting['numberSamples_global'] = 1000
Setting['numberSamples_local'] = 500
Setting['numChange'] = 3
Setting['angConstraint'] = [[0, 90], [-45, 90], [0, 90], [0, 180]]
Setting['layer'] = 2
Setting['tau'] = 0.4
Setting['collision_tau'] = 1.0
return Setting
# 3g3_m1
elif self.num_grapple_points == 3 and self.num_segments == 3:
Setting['np-rd'] = 30
Setting['random'] = 500
Setting['ee1Flag'] = [True, False, True]
Setting['numberSamples_global'] = 800
Setting['numberSamples_local'] = 200
Setting['numChange'] = 2
Setting['angConstraint'] = [[0, 90], [0, 180], [0, 180]]
Setting['layer'] = 3
Setting['tau'] = 0.4
Setting['collision_tau'] = 10000.0
return Setting
# 4g3_m1,4g3_m2
elif self.num_grapple_points == 3 and self.num_segments == 4:
Setting['np-rd'] = 201840
Setting['random'] = 550
Setting['ee1Flag'] = [True, False, True]
Setting['numberSamples_global'] = 800
Setting['numberSamples_local'] = 200
Setting['numChange'] = 2
Setting['angConstraint'] = [[0, 90], [-90, 90], [0, 180], [45, 90]]
Setting['layer'] = 2
Setting['tau'] = 0.4
Setting['collision_tau'] = 10000.0
return Setting
# 5g3_m1,m2,m3
elif self.num_grapple_points == 3 and self.num_segments == 5:
Setting['np-rd'] = 201840
Setting['random'] = 550
Setting['ee1Flag'] = [True, False, True]
Setting['numberSamples_global'] = 800
Setting['numberSamples_local'] = 200
Setting['numChange'] = 2
Setting['angConstraint'] = [[0, 90], [-45, 45], [0, 90], [0, 180],
[0, 180]]
Setting['layer'] = 2
Setting['tau'] = 0.4
Setting['collision_tau'] = 1.0
return Setting
# 3g1_m0,
elif self.num_grapple_points == 1 and self.num_segments == 3 and self.num_obstacles == 1:
Setting['np-rd'] = 30
Setting['random'] = 550
Setting['ee1Flag'] = [True]
Setting['numberSamples_global'] = 1000
Setting['numberSamples_local'] = 500
Setting['numChange'] = 0
Setting['angConstraint'] = []
Setting['layer'] = 2
Setting['tau'] = 0.4
Setting['collision_tau'] = 10000.0
return Setting
# 3g1_m1,3g1_m2
elif self.num_grapple_points == 1 and self.num_segments == 3:
Setting['np-rd'] = 201840
Setting['random'] = 550
Setting['ee1Flag'] = [True]
Setting['numberSamples_global'] = 1000
Setting['numberSamples_local'] = 1
Setting['numChange'] = 0
Setting['angConstraint'] = []
Setting['layer'] = 2
Setting['tau'] = 0.4
Setting['collision_tau'] = 0.4
return Setting
# 4g1_m1
elif self.num_grapple_points == 1 and self.num_segments == 4 and points[
0][0] == 0.5 and points[0][1] == 0.3:
Setting['np-rd'] = 123235
Setting['random'] = 550
Setting['ee1Flag'] = [True]
Setting['numberSamples_global'] = 1000
Setting['numberSamples_local'] = 500
Setting['numChange'] = 0
Setting['angConstraint'] = []
Setting['layer'] = 2
Setting['tau'] = 0.4
Setting['collision_tau'] = 0.4
return Setting
# 4g1_m2
elif self.num_grapple_points == 1 and self.num_segments == 4 and points[
0][0] != 0.5 and points[0][1] != 0.3:
Setting['np-rd'] = 12324
Setting['random'] = 500
Setting['ee1Flag'] = [True]
Setting['numberSamples_global'] = 800
Setting['numberSamples_local'] = 200
Setting['numChange'] = 0
Setting['angConstraint'] = []
Setting['layer'] = 2
Setting['tau'] = 0.4
Setting['collision_tau'] = 0.3
return Setting
def sampling_ang_constrain(self, numSampling, angConstraint, eexy,
ee1Flag):
minMax = self.get_min_max_len()
numSeg = self.get_num_segment()
if ee1Flag:
grapples_tmp = np.zeros((numSampling, 1))
else:
grapples_tmp = np.ones((numSampling, 1))
grapples = []
angles = np.zeros((numSampling, numSeg))
lengths = np.zeros((numSampling, numSeg))
for i in range(numSeg):
if i == 0:
# horizontal can be 0 ~ 180
# vertical can be -90 ~ 90
angles[:, i] = np.random.rand(1, numSampling) * (
angConstraint[i][1] -
angConstraint[i][0]) + angConstraint[i][0]
angles[angles > 180] = 180
angles[angles < -180] = -180
else:
angles[:, i] = np.random.rand(1, numSampling) * (
angConstraint[i][1] -
angConstraint[i][0]) + angConstraint[i][0]
angles[angles > 165] = 165
angles[angles < -165] = -165
tmp = np.random.rand(1,
numSampling) * (minMax[1][i] - minMax[0][i])
lengths[:, i] = tmp + minMax[0][i]
for i in range(numSampling):
grapples.append(list(eexy))
output = np.append(np.asarray(grapples), angles, axis=1)
output = np.append(output, lengths, axis=1)
output = np.append(output, grapples_tmp, axis=1)
return output
def sampling_bridge(self, graph, numberSamples, eexyfrom, eexyto,
ee1flags):
numberSamples_local = 10000
angConstraint = self.Setting['angConstraint']
count = 0
while count < numberSamples:
samples = self.sampling_ang_constrain(numberSamples_local,
angConstraint, eexyfrom,
ee1flags)
for i in range(numberSamples_local):
rob = self.assign_config(samples, i)
tmp = self.run_checking_sampling_bridge(rob, eexyto, ee1flags)
if len(tmp) != 0:
# print(tmp[0])
# print(tmp[0].get_position())
# print(tmp[1].get_position())
graph.addEdge(str(tmp[0]), str(tmp[1]))
# graph.addVertex(str(tmp[0]))
count += 1
if count > numberSamples:
break
# rob from grapple1 to grapple2
def run_checking_sampling_bridge(self, rob, grapple2, ee1flag):
tester = test_robot(self)
tolerate_error = 1e-5
minMax = self.get_min_max_len()
numSeg = self.get_num_segment()
robPos = rob.get_position()
headPos = robPos[0]
endPos = rob.get_EndeePos()
arr = []
con = True
flag, arr = self.check_sampling_bridge(rob, grapple2, ee1flag)
if flag:
return arr
else:
# print(rob)
# print(robPos[-2])
xlen = -(robPos[-2][0] - grapple2[0])
ylen = -(robPos[-2][1] - grapple2[1])
difflen = math.sqrt(xlen * xlen + ylen * ylen)
if (difflen >= minMax[0][-1] and difflen <= minMax[1][-1]):
newAng = Angle.atan2(ylen, xlen)
newAng1 = Angle.atan2(-ylen, -xlen)
if ee1flag:
robArr = rob.str2list()
angSum = 0
for a in range(numSeg - 1):
angSum += robArr[2 + a]
robArr[2 + numSeg - 1] = newAng.in_degrees() - angSum
robArr[2 + numSeg * 2 - 1] = difflen
robNew = make_robot_config_with_arr(
robArr[0], robArr[1], robArr[2:(2 + numSeg)],
robArr[(2 + numSeg):(2 + numSeg * 2)], robArr[-1])
if (tester.self_obstacle_test(robNew)):
# print(robNew)
flagNew, arrNew = self.check_sampling_bridge(
robNew, grapple2, ee1flag)
if flagNew:
return arrNew
else:
#===== here might have problem when grapple is ee2 ====
robArr = rob.str2list()
angSum = 0
for a in range(numSeg - 1):
angSum += robArr[2 + a]
robArr[2 + numSeg - 1] = newAng.in_degrees() - angSum
robArr[2 + numSeg] = difflen
robNew = make_robot_config_with_arr(
robArr[0], robArr[1], robArr[2:(2 + numSeg)],
robArr[(2 + numSeg):(2 + numSeg * 2)], robArr[-1])
robNew1 = make_robot_config_with_arr(
robArr[0], robArr[1], robArr[2:(2 + numSeg)],
robArr[(2 + numSeg):(2 + numSeg * 2)], robArr[-1])
flagNew, arrNew = self.check_sampling_bridge(
robNew, grapple2, ee1flag)
if flagNew:
return arrNew
return arr
def check_sampling_bridge(self, rob, grapple2, ee1flag):
tolerate_error = 1e-5
minMax = self.get_min_max_len()
numSeg = self.get_num_segment()
robPos = rob.get_position()
headPos = robPos[0]
endPos = rob.get_EndeePos()
aaa = self.get_init_state()
bbb = self.get_goal_state()
arr = []
if ee1flag:
if abs(endPos[0] - grapple2[0]) < tolerate_error and abs(
endPos[1] - grapple2[1]) < tolerate_error:
robInverse = rob_conf_ee2(grapple2[0],
grapple2[1],
rob.ee2_angles,
rob.lengths,
ee2_grappled=True)
arr.append(rob)
arr.append(robInverse)
return True, arr
else:
if abs(endPos[0] - grapple2[0]) < tolerate_error and abs(
endPos[1] - grapple2[1]) < tolerate_error:
robInverse = rob_conf_ee1(grapple2[0],
grapple2[1],
rob.ee1_angles,
rob.lengths,
ee1_grappled=True)
arr.append(rob)
arr.append(robInverse)
return True, arr
return False, arr
def sampling_withinD(self, robot, D, numSampling, eexy, ee1Flag):
minMax = self.get_min_max_len()
numSeg = self.get_num_segment()
grapple_point = self.get_grapple_points()
limitAngle = Angle(radians=D[0])
limitLength = D[1]
# read robot angle and length
robot_ang = robot.get_angle()
robot_len = robot.get_length()
# sampling angles
angles = np.zeros((numSampling, numSeg))
lengths = np.zeros((numSampling, numSeg))
for i in range(numSeg):
tmpAng = np.random.rand(1,numSampling)*limitAngle.in_degrees()*2 \
- limitAngle.in_degrees() +robot_ang[i].in_degrees()
if i == 0:
tmpAng[tmpAng > 180] = 180
tmpAng[tmpAng < -180] = -180
angles[:, i] = tmpAng
else:
tmpAng[tmpAng > 165] = 165
tmpAng[tmpAng < -165] = -165
angles[:, i] = tmpAng
# # sampling length
if (minMax[1][i] - minMax[0][i]) != 0:
tmp = np.random.rand(
1, numSampling) * (D[1] * 2) - D[1] + robot_len[i]
tmp[tmp > minMax[1][i]] = minMax[1][i]
tmp[tmp < minMax[0][i]] = minMax[0][i]
else:
tmp = np.zeros((1, numSampling)) + robot_len[i]
lengths[:, i] = tmp
# grapple
grapples = []
if ee1Flag:
grapples_tmp = np.zeros((1, numSampling))
else:
grapples_tmp = np.ones((1, numSampling))
# grapples_tmp = (np.floor(np.random.rand(1,numSampling)*len(grapple_point)))
for i in range(numSampling):
grapples.append(list(eexy))
output = np.append(np.asarray(grapples), angles, axis=1)
output = np.append(output, lengths, axis=1)
grapples_tmp = grapples_tmp.reshape(numSampling, 1)
output = np.append(output, grapples_tmp, axis=1)
return output
def assign_config(self, sample_config, id):
numSeg = self.get_num_segment()
x = sample_config[id][0]
y = sample_config[id][1]
angles = []
lengths = []
for i in range(numSeg):
angles.append(Angle(degrees=sample_config[id][2 + i]))
lengths.append(sample_config[id][2 + numSeg + i])
if (int(sample_config[id][-1]) == 0):
return rob_conf_ee1(x, y, angles, lengths, ee1_grappled=True)
else:
return rob_conf_ee2(x, y, angles, lengths, ee2_grappled=True)
def str2robotConfig(self, stringInput):
ee1_xy_str, ee1_angles_str, lengths_str, ee1_grappled = stringInput.strip(
).split(';')
ee1x, ee1y = tuple([float(i) for i in ee1_xy_str.split(' ')])
ee1_angles = [
Angle(degrees=float(i)) for i in ee1_angles_str.strip().split(' ')
]
lengths = [float(i) for i in lengths_str.strip().split(' ')]
if int(ee1_grappled) == 1:
return rob_conf_ee1(ee1x,
ee1y,
ee1_angles,
lengths,
ee1_grappled=True)
else:
return rob_conf_ee2(ee1x,
ee1y,
ee1_angles,
lengths,
ee2_grappled=True)
def run_EST(self, outPath):
init = self.get_init_state()
goal = self.get_goal_state()
self.gInit.addVertex(str(init))
self.gGoal.addVertex(str(goal))
s = 100000
for i in range(s):
added_m, flagInit = self.expandTree()
connected, q = self.connectTree(added_m, flagInit)
# haven't checked path
if connected:
# print(added_m)
print("traverse from middle point back to init and goal")
robot_config_list = self.traverseBack(flagInit, added_m, q)
for rc in range(len(robot_config_list)):
robot_config_list[rc] = robot_config_list[rc][:-3]
write_robot_config_list_to_file(outPath, robot_config_list)
return True
return False
# flagInit = 0 -> added_m in init, otherwise added_m in goal
def traverseBack(self, flagInit, added_m, q):
if flagInit == 0:
path1 = self.traverse(self.gInit, added_m, 1)
path2 = self.traverse(self.gGoal, q, 0)
else:
path1 = self.traverse(self.gInit, q, 1)
path2 = self.traverse(self.gGoal, added_m, 0)
out = []
out.extend(path1)
out.extend(path2)
return out
def traverse(self, graph, node, reverseFlag):
x = graph.getVertex(str(node))
statelist = []
while x.getParents() is not None:
statelist.append(x.getId())
aa = x.getParents()
x = graph.getVertex(x.getParents().getId())
# print(x.getParents())
statelist.append(x.getId())
if (reverseFlag == 1):
arr = []
for i in reversed(statelist):
arr.append(i)
return arr
return statelist
def expandTree(self):
k = 1
D = [0.4, 1e-2]
tau = 0.4
pr = round(random.random())
T = self.gGoal if pr == 1 else self.gInit
tester = test_robot(self)
while True:
prVertex = math.floor(random.random() * T.getNumbVertices())
mVertex = T.getVertex(T.getVerticeByInt(prVertex))
m = self.str2robotConfig(mVertex.getId())
# m need to become robot
robot_conf = []
# robot_conf = self.sampling_withinD(m,D,k)
for i in range(k):
# print(robot_conf[i])
q = self.assign_config(robot_conf, i)
# check q is collision or not
if (tester.self_collision_test(q)
) and tester.test_config_distance_tau(m, q, self, tau):
print(str(q)[:-3])
f = open("tmp_output.txt", "a")
f.write(str(q)[:-3] + '\n')
f.close()
T.addEdge(str(m), str(q))
return q, pr
# else:
# output = self.obstacle_sampling(T,m,q,D,k,tester,tau)
# if output is not None:
# return output,pr
def obstacle_sampling(self, T, m, q, D, k, tester, tau):
q_test = self.sampling_withinD(q, D, k, m.get_HeadeePos(),
m.ee1_grappled)
for i in range(k):
q_test_conf = self.assign_config(q_test, i)
# find q_test in the distance of D from q
if (tester.self_collision_test(q_test_conf)
) and tester.test_config_distance_tau(m, q_test_conf, self,
tau):
curNode = str(m)
knNode = str(q_test_conf)
if curNode[-1] == knNode[-1]:
if int(curNode[-1]) == 1:
if curNode.split(' ')[0] == knNode.split(
' ')[0] and curNode.split(
' ')[1] == knNode.split(' ')[1]:
T.addEdge(str(m), str(q_test_conf))
return q_test_conf
else:
if curNode.split(' ')[0] == knNode.split(
' ')[0] and curNode.split(
' ')[1] == knNode.split(' ')[1]:
T.addEdge(str(m), str(q_test_conf))
return q_test_conf
else: # find middle point
tmpA = np.asarray(q.str2list())
tmpB = np.asarray(q_test_conf.str2list())
tmpC = (tmpA + tmpB) / 2
midRobot = make_robot_config_with_arr(
tmpA[0], tmpA[1], tmpC[2:(2 + self.num_segments)],
tmpC[2 + self.num_segments:(2 + 2 * self.num_segments)],
tmpA[-1])
if (tester.self_collision_test(midRobot)
) and tester.test_config_distance_tau(
m, midRobot, self, tau):
curNode = str(m)
knNode = str(midRobot)
if curNode[-1] == knNode[-1]:
if int(curNode[-1]) == 1:
if curNode.split(' ')[0] == knNode.split(
' ')[0] and curNode.split(
' ')[1] == knNode.split(' ')[1]:
T.addEdge(str(m), str(midRobot))
return midRobot
else:
if curNode.split(' ')[0] == knNode.split(
' ')[0] and curNode.split(
' ')[1] == knNode.split(' ')[1]:
T.addEdge(str(m), str(midRobot))
return midRobot
# T.addEdge(str(m),str(midRobot))
# return midRobot
return None
def connectTree(self, added_m, flagInit):
tester = test_robot(self)
tau = 0.4
# check added_m in the other tree
T = self.gInit if flagInit == 1 else self.gGoal
visited = set()
for i in range(T.getNumbVertices()):
VertexTmp = T.getVertex(i)
prVertex = math.floor(random.random() * T.getNumbVertices())
if (prVertex not in visited):
visited.add(prVertex)
mVertex = T.getVertex(T.getVerticeByInt(prVertex))
q = self.str2robotConfig(mVertex.getId())
# print("comp:",added_m)
# print("other tree:",q)
# should find the minimum q to calculate the distance, but not implement now
if tester.test_config_distance_tau(added_m, q, self, tau):
# print(added_m)
# print(q)
# self.combineTwoGraph(flagInit,added_m,q)
return True, q
return False, None
def combineTwoGraph(self, flagInit, added_m, q):
# added_m in the self tree
initNode = added_m if flagInit == 0 else q
goalNode = added_m if flagInit == 1 else q
self.gInit.addEdge(str(initNode), str(goalNode))
goalTmp = self.gGoal.getVertex(str(goalNode))
while goalTmp.getParent():
self.gInit.addEdge(str(goalTmp), str(goalTmp.getParent()))
goalTmp = self.gGoal.getVertex(goalTmp.getParent())
# Add edges
for room_id in ad_list:
neighbors = ad_list[room_id]
for i in range(len(neighbors)):
neighbor = neighbors[i]
neighbor_direction = list(neighbor.keys())
neighbor_direction = neighbor_direction[0]
neighbor_id = neighbor[neighbor_direction]
g.add_edge(room_id, str(neighbor_id), neighbor_direction)
# First graph sync
g = Graph()
sync_graph(g)
# === Find nearest unvisited room ===
# Main function
def find_nearest_unvisited(player, visited):
room_id = player.cur_room
neighbors = g.get_neighbors(room_id)
q = Queue()
# FORMAT OF QUEUE: [ [directions], [room_ids] ]
# Initialize queue
for direction in neighbors:
if neighbors[direction] == '-1':
# Return to main calling function
# Seed the random number generator for reproducible results
random.seed(seed)
# Start player in the first room
player = Player(world.starting_room)
# Will be filled with directions to walk
traversal_path = []
# Keep track of visited rooms so we know when we've visited them all
visited_rooms = set()
visited_rooms.add(player.current_room)
# Initialize a graph to track rooms and connections between them
graph = Graph()
graph.add_room(player.current_room.id, player.current_room.get_exits())
backtracked = False # Track whether player has returned from a dead end
# Loop until all rooms have been visited
while len(visited_rooms) != len(room_graph):
# Get a list of unvisited exits from the current location
exits = graph.get_connected_rooms(player.current_room.id,
visited=False)
# If there are exits
if exits:
# Store current room for connecting to the next room
current_room = player.current_room
# player.current_room.id <- returns the room id
# player.current_room.get_exits() <- returns the availble exits from the current room (['n', 's', ...])
# player.travel('n') <- Input a direction and move to that room
# room.get_room_in_direction('n') <- Input a direction and get the room id that's connected or None
# Shape of the graph (based on test_cross map)
# {
# 0: {'n': 1, 's': 5, 'w': 7, 'e': 3}, <- Room 0 has 4 connected rooms
# 1: {'n': 2, 's': 0}, <- Room 1 has 2 connected rooms
# 2: {'s': 1}, <- Room 2 has 1 connected room
# ...
# 8: {'e': 7} <- Room 8 has 1 connected room
# }
# FIRST: Explore all rooms and populate the graph
graph = Graph()
# Add starting room
starting_room = world.starting_room
# graph.add_vertex(starting_room.id)
stack = Stack()
stack.push(starting_room)
visited = set()
# Continue until we have seen all rooms and the stack is empty
while stack.size() > 0:
room = stack.pop() # returns a <Room> class instance, not a room id
room_id = room.id
if room_id not in graph.vertices:
graph.add_vertex(room_id)
# Get connected rooms
connected_rooms = room.get_exits() # returns an array of directions
for direction in connected_rooms:
q.enqueue([(player.current_room, d)])
visited = set()
while q.size:
path = q.dequeue()
curr_room = path[-1][0]
if '?' in gr.rooms[curr_room].values():
return [d for _, d in path][1:]
elif curr_room not in visited:
visited.add(curr_room)
for direction in curr_room.get_exits():
next_room = curr_room.get_room_in_direction(direction)
q.enqueue(path + [(next_room, direction)])
return None
gr = Graph()
gr.add_vertex()
while True:
if not any('?' in d.values() for d in gr.rooms.values()):
break
linear_dir = gr.go_in_direction_until_dead_end(player.current_room)
get_current_room(linear_dir)
traversal_path += linear_dir
path_to_unexplored_room = find_unexplored_room()
if path_to_unexplored_room is not None:
traversal_path += path_to_unexplored_room
get_current_room(path_to_unexplored_room)
# TRAVERSAL TEST
visited_rooms = set()
import sys
if len(sys.argv) < 2:
print 'usage: infer_kmeans.py path_to_trips/'
sys.exit(0)
# load traces
traces = read_traces(sys.argv[1])
# get initial markers
markers_by_trace = get_markers(traces, SEED_DISTANCE)
flat_markers = [
marker for trace_markers in markers_by_trace
for marker in trace_markers
]
# initialize clusters and run k-means
initial_clusters = initialize_clusters(flat_markers, DISTANCE_THRESHOLD,
BEARING_THRESHOLD)
clusters = kmeans(flat_markers, initial_clusters, 2 * DISTANCE_THRESHOLD,
MOVEMENT_THRESHOLD)
# extract road network
graph = Graph()
for cluster in clusters:
cluster.vertex = graph.add_vertex(cluster.x, cluster.y)
generate_edges(graph, markers_by_trace, clusters)
# output graph
graph.write('kmeans-inferred.graph')
def __init__(self, input_file):
super(EST, self).__init__(input_file)
self.gInit = Graph()
self.gGoal = Graph()
self.Setting = self.caseSetting()
# You may uncomment the smaller graphs for development and testing purposes.
# map_file = "maps/test_line.txt"
# map_file = "maps/test_cross.txt"
# map_file = "maps/test_loop.txt"
# map_file = "maps/test_loop_fork.txt"
map_file = "maps/main_maze.txt"
# Loads the map into a dictionary
room_graph = literal_eval(open(map_file, "r").read())
world.load_graph(room_graph)
# Print an ASCII map
world.print_rooms()
player = Player(world.starting_room)
graph = Graph()
# Populate graph by traversing through all the rooms using a depth first traversal
def dft():
#Create Stack
stack = Stack()
#Put the starting point in the stack
stack.push(world.starting_room)
# Create a set to keep track of where we've been
visited = set()
#While the stack is not empty
while stack.size() > 0:
# grabs room instance off of stack
room = stack.pop()
from util import Queue, inverse_order, Graph
from map_file import room_graph
g = Graph()
traversal_path = []
g.create_world(room_graph)
def travel(travel_array):
'''
Helper function to collect directions
'''
# create an empty list
path = []
# enumerate the list
for index, room in enumerate(travel_array):
# shave front and last
if index > len(travel_array) - 2:
return path
# check if
for d in g.rooms[room]:
if g.rooms[room][d] == travel_array[index + 1]:
path.append(d)
def bfs(rooms_id, target):
"""
Return a list containing the shortest path from
starting_vertex to destination_vertex in
breath-first order.
from urls import post, get, end
from util import Graph
from mine import mine
import json
import os
global data
data = get(end['init'])
global snitch
snitch = False if data['room_id'] < 500 else True
gr = Graph()
map_file = 'map.json' if snitch == False else 'map2.json'
with open(map_file) as map:
completed_map = json.load(map)
for room in completed_map:
if completed_map[room] == data['room_id']:
data = completed_map[room]
gr.add_vertex(completed_map[room])
def exits():
global data
all_exits = data['exits']
print('Exits: [', end='')
for i, x in enumerate(all_exits):
room_id = gr.rooms[data['room_id']]['exits'][x]
room_title = gr.rooms[room_id]['title']
terrain = gr.rooms[room_id]['terrain']
if i + 1 == len(all_exits):