def expend(self):
t = time()
old_state = self.pop_open_list()
self.expend_node += 1
self.H_expend += old_state.f
if self.goal_test(old_state.unseen):
return old_state
# Utils.print_map(self.world)
Utils.print_all_whacers(self.world, [[(2, 1)], [(1, 3)]])
for new_state in itertools.product(*self.get_all_frontire(old_state)):
if new_state != old_state.location: # and set(new_state).__len__()==self.number_of_agent:
sorted_new_state, sorted_indexing = Utils.sort_list(new_state)
dead_list = self.get_dead_list(old_state, new_state,
sorted_indexing)
seen_state = old_state.unseen - self.world.get_all_seen(
sorted_new_state)
new_node = Node(
old_state, sorted_new_state, seen_state, dead_list,
self.get_cost(new_state, old_state, sorted_indexing))
self.insert_to_open_list(new_node)
#print(time() - t)
# for state_index in range(LOS ** (self.number_of_agent)):
#
# new_state , moving_status = self.get_new_state(old_state, state_index)
#
# if self.world.is_valid_node(new_state, old_state,moving_status):
#
# seen_state = old_state.unseen - self.world.get_all_seen(new_state)
# dead_list=old_state.dead_agent[:]
# for i in range(self.number_of_agent):
# if moving_status[i]==0 and i not in dead_list:
# dead_list.append(i)
# new_node = Node(old_state, new_state, seen_state,dead_list, self.get_cost(old_state), 0)
#
# self.insert_to_open_list(new_node)
# #print(time()-t)
return False
def print_path(self, gole_node, see_agent_walk):
all_path = self.get_path(gole_node)
tmp_location = []
for cell in all_path:
# print(f'L = {cell.location} \t h = {cell.heuristics} ')
tmp_location.append(cell.location)
tmp_word = np.copy(self.world.grid_map)
for k in cell.unseen:
tmp_word[k] = 2
for j in cell.location:
tmp_word[j] = 3
if see_agent_walk:
plt.figure(1)
plt.pcolormesh(tmp_word, edgecolors='black', linewidth=0.01)
plt.gca().set_aspect('equal')
plt.gca().set_ylim(plt.gca().get_ylim()[::-1])
plt.draw()
plt.pause(0.001)
plt.clf()
sleep(0.5)
plt.close('all')
Utils.print_all_whacers(self.world, tmp_location)