def expandNode(maze, node, frontierPriorityQueue, frontierHashTable, exploredHashTable,depthLimit):
if (node.depth < depthLimit):
# the expansion order is opposite because last element becomes first in the heap, thus it will expand in the right order
for direction in ['U', 'LU', 'L', 'LD', 'D', 'RD', 'R', 'RU']:
x,y = getCoordsFromDirection(direction, node.x, node.y)
if maze.isValidMove(x,y):
newNodeCost = maze.getCost(x, y)
heuristicValue = -(node.depth+1)
newNode = Node(x,y,newNodeCost,node,node.pathCost + newNodeCost,heuristicValue,node.depth+1,heuristicValue)
# new node
if newNode.key not in exploredHashTable and newNode.key not in frontierHashTable:
frontierPriorityQueue.push(newNode)
frontierHashTable[newNode.key] = newNode
# node is in frontier
elif newNode.key in frontierHashTable:
if newNode.depth < frontierHashTable[newNode.key].depth or (newNode.pathCostWithHeuristic == frontierHashTable[newNode.key].pathCostWithHeuristic and newNode.heuristicCost < frontierHashTable[newNode.key].heuristicCost):
frontierPriorityQueue.popSpecific(frontierHashTable[newNode.key])
frontierPriorityQueue.push(newNode)
frontierHashTable[newNode.key] = newNode
# node in explored and not in frontier
elif newNode.key in exploredHashTable and newNode.key not in frontierHashTable:
if newNode.depth < exploredHashTable[newNode.key].depth or ( newNode.depth == exploredHashTable[newNode.key].depth and newNode.heuristicCost < exploredHashTable[newNode.key].heuristicCost):
frontierPriorityQueue.push(newNode)
frontierHashTable[newNode.key] = newNode
def expandNode(maze, node, frontierPriorityQueue, frontierHashTable,
exploredHashTable, FLimit, heuristic):
global heuristicSum
global heuristicCounter
global remaining
remaining = False
if (node.pathCostWithHeuristic < FLimit):
# the expansion order is opposite because last element becomes first in the heap, thus it will expand in the right order
for direction in ['U', 'LU', 'L', 'LD', 'D', 'RD', 'R', 'RU']:
x, y = getCoordsFromDirection(direction, node.x, node.y)
if maze.isValidMove(x, y):
newNodeCost = maze.getCost(x, y)
heuristicValue = heuristic(x, y, maze.goalNode)
newNode = Node(x, y, newNodeCost, node,
node.pathCost + newNodeCost,
node.pathCost + newNodeCost + heuristicValue,
node.depth + 1, heuristicValue)
heuristicSum += heuristicValue
heuristicCounter += 1
# new node
if newNode.key not in exploredHashTable and newNode.key not in frontierHashTable:
frontierPriorityQueue.push(newNode)
frontierHashTable[newNode.key] = newNode
# painting frontier node in yellow
pen.paint_tile(newNode.x, newNode.y, pen.light_green,
False)
# node is in frontier
elif newNode.key in frontierHashTable:
if newNode.pathCost < frontierHashTable[
newNode.key].pathCost or (
newNode.pathCostWithHeuristic
== frontierHashTable[
newNode.key].pathCostWithHeuristic
and newNode.heuristicCost <
frontierHashTable[newNode.key].heuristicCost):
frontierPriorityQueue.popSpecific(
frontierHashTable[newNode.key])
frontierPriorityQueue.push(newNode)
frontierHashTable[newNode.key] = newNode
# node in explored and not in frontier
elif newNode.key in exploredHashTable and newNode.key not in frontierHashTable:
if newNode.pathCost < exploredHashTable[newNode.key].pathCost or\
(newNode.pathCost == exploredHashTable[newNode.key].pathCost and newNode.pathCostWithHeuristic < exploredHashTable[
newNode.key].pathCostWithHeuristic):
frontierPriorityQueue.push(newNode)
frontierHashTable[newNode.key] = newNode
else:
remaining = True
def expandNode(maze, node, frontierPriorityQueue, frontierHashTable,
exploredHashTable, turn, heuristic):
global heuristicSum
global heuristicCounter
# the expansion order is opposite because last element becomes first in the heap, thus it will expand in the right order
for direction in ['U', 'LU', 'L', 'LD', 'D', 'RD', 'R', 'RU']:
x, y = getCoordsFromDirection(direction, node.x, node.y)
if maze.isValidMove(x, y):
newNodeCost = maze.getCost(x, y)
# setting heuristic according to which search we are currently at.
if turn is True: # front search
heuristicValue = heuristic(x, y, maze.goalNode)
# heuristicValue = minimumMoves(x,y,maze.goalNode)
elif turn is False: # backwards search
heuristicValue = heuristic(x, y, maze.startNode)
# heuristicValue = minimumMovesBi(x, y, maze.goalNode)
newNode = Node(x, y, newNodeCost, node,
node.pathCost + newNodeCost,
node.pathCost + newNodeCost + heuristicValue,
node.depth + 1, heuristicValue)
heuristicSum += heuristicValue
heuristicCounter += 1
# new node, insert it to PQ and Hashtable
if newNode.key not in exploredHashTable and newNode.key not in frontierHashTable:
frontierPriorityQueue.push(newNode)
frontierHashTable[newNode.key] = newNode
# node is already in frontier
elif newNode.key in frontierHashTable:
if newNode.pathCostWithHeuristic < frontierHashTable[
newNode.key].pathCostWithHeuristic or (
newNode.pathCostWithHeuristic == frontierHashTable[
newNode.key].pathCostWithHeuristic
and newNode.heuristicCost <
frontierHashTable[newNode.key].heuristicCost):
frontierPriorityQueue.popSpecific(
frontierHashTable[newNode.key])
frontierPriorityQueue.push(newNode)
frontierHashTable[newNode.key] = newNode
# node in explored and not in frontier
elif newNode.key in exploredHashTable and newNode.key not in frontierHashTable:
if newNode.pathCostWithHeuristic < exploredHashTable[
newNode.key].pathCostWithHeuristic or (
newNode.pathCostWithHeuristic == exploredHashTable[
newNode.key].pathCostWithHeuristic
and newNode.heuristicCost <
exploredHashTable[newNode.key].heuristicCost):
frontierPriorityQueue.push(newNode)
frontierHashTable[newNode.key] = newNode
def expandNode(maze, node, frontierPriorityQueue, frontierHashTable, exploredHashTable):
# the expansion order is opposite because last element becomes first in the heap, thus it will expand in the right order
for direction in ['U', 'LU', 'L', 'LD', 'D', 'RD', 'R', 'RU']:
x,y = getCoordsFromDirection(direction, node.x, node.y)
if maze.isValidMove(x,y):
nodeCost = maze.getCost(x,y)
newNode = Node(x,y,nodeCost,node,node.pathCost + nodeCost,node.pathCost + nodeCost,node.depth+1)
# new node
if newNode.key not in exploredHashTable and newNode.key not in frontierHashTable:
frontierPriorityQueue.push(newNode)
frontierHashTable[newNode.key] = newNode
def killDeadEndsPath(maze, node):
global movesMatrix
x = node.x
y = node.y
successExpands = 0
for direction in ['RU', 'R', 'RD', 'D', 'LD', 'L', 'LU', 'U']:
newX, newY = getCoordsFromDirection(direction, x, y)
if maze.isValidMove(
newX, newY
) and node.fatherNode.x != newX and node.fatherNode.y != newY:
successExpands += 1
if successExpands == 1 and x != maze.goalNode.x and y != maze.goalNode.y:
movesMatrix[x][y] = 99999
killDeadEndsPath(maze, node.fatherNode)
else:
return
def expandNode(maze, node, frontierPriorityQueue, frontierHashTable,
exploredHashTable, heuristic):
global heuristicSum
global heuristicCounter
global h_time
# the expansion order is opposite because last element becomes first in the heap, thus it will expand in the right order
for direction in ['U', 'LU', 'L', 'LD', 'D', 'RD', 'R', 'RU']:
x, y = getCoordsFromDirection(direction, node.x, node.y)
if maze.isValidMove(x, y):
newNodeCost = maze.getCost(x, y)
heuristicValue = heuristic(x, y, maze.goalNode)
newNode = Node(x, y, newNodeCost, node,
node.pathCost + newNodeCost,
node.pathCost + newNodeCost + heuristicValue,
node.depth + 1, heuristicValue)
heuristicSum += heuristicValue
heuristicCounter += 1
# new node
if newNode.key not in exploredHashTable and newNode.key not in frontierHashTable:
frontierPriorityQueue.push(newNode)
frontierHashTable[newNode.key] = newNode
# node is in frontier
elif newNode.key in frontierHashTable:
if newNode.pathCost < frontierHashTable[
newNode.key].pathCost or (
newNode.pathCostWithHeuristic == frontierHashTable[
newNode.key].pathCostWithHeuristic
and newNode.heuristicCost <
frontierHashTable[newNode.key].heuristicCost):
# heapdict
frontierPriorityQueue.popSpecific(
frontierHashTable[newNode.key])
frontierPriorityQueue.push(newNode)
frontierHashTable[newNode.key] = newNode
def iterativeBFS(maze):
global movesMatrix
global orderStack
global visited
global minVal
while len(orderStack) is not 0:
moves, x, y = orderStack.pop(0)
visited[str(x) + "," + str(y)] = 1
if movesMatrix[x][y] > moves:
movesMatrix[x][y] = moves
for direction in ['RU', 'R', 'RD', 'D', 'LD', 'L', 'LU', 'U']:
newX, newY = getCoordsFromDirection(direction, x, y)
if maze.isValidMove(newX, newY) and (str(newX) + "," +
str(newY)) not in visited:
orderStack.append((moves + 1, newX, newY))
if maze.maze[newX][newY] < minVal:
minVal = maze.maze[newX][newY]
