def encode_state_range(agent, vision_range):
grid = agent.model.grid
radius = vision_range
#cell_locations = grid.get_neighborhood(agent.pos, moore = True, include_center = True, radius = vision_range)
state_w_h = vision_range + vision_range + 1
list_state = np.zeros((state_w_h, state_w_h))
list_x = 0 #stored in list as
list_y = 0 #stored in list as
pos_x = agent.pos[0] # actual location of agent to start
pos_y = agent.pos[1] # actual location of agent to start
for dy in range(-radius, radius + 1):
for dx in range(-radius, radius + 1):
grid_position = grid.torus_adj((pos_x + dx, pos_y + dy))
if not grid.is_cell_empty(grid_position):
# get cell content of grid position
cell_content = grid[grid_position[0]][grid_position[1]]
list_state[list_x][list_y] = encode_cell(cell_content)
list_x += 1
list_y += 1
list_x = 0
distance = int(
round(
movement_control.get_distance(grid, agent.pos,
agent.model.goalTarget)))
print("distance is ", distance)
state_tuple = [tuple(l) for l in list_state]
#extra_information = (distance, agent.model.current_cow_count)
extra_information = (pos_x, pos_y)
#print(tuple([tuple(state_tuple), extra_information]))
return tuple([tuple(state_tuple), extra_information])
def flank_cow(self):
print("in flank method")
# if distance from me to the cow is greater than half the vision range
distance = movement_control.get_distance(self.model.grid, self.pos, self.cow_to_follow.pos)
if (float(distance) > (float(self.vision_radius) / 2.0)) :
print("moving to flank")
movement_control.move_towards(self, self.cow_to_follow.pos)
def block(self):
print("in block method")
distance = movement_control.get_distance(grid, self.pos,
self.model.goalTarget)
if (float(distance) > (float(self.vision_radius) / 2.0)):
print("moving to block")
movement_control.move_towards(self, self.cow_to_follow.pos)
def calculate_single_weight(self, cell):
""" Calculate the weight of cell based on visibility radius"""
cell_weight = 0.0
neighborhood_cells = self.model.grid.get_neighborhood(cell, moore=True, include_center=False, radius=self.cow_visibility)
for neighbor in neighborhood_cells:
distance = movement_control.get_distance(self.model.grid, cell, neighbor)
weight = self.get_weight(neighbor)
cell_weight += (weight/distance)
return cell_weight
def find_closest_cow_to_goal(self, free_cows):
if not free_cows:
return None
closest_cow = None
closest_distance = np.inf
for cow in free_cows:
current_distance = movement_control.get_distance(
self.model.grid, cow.pos, self.model.goalTarget)
if (current_distance < closest_distance):
closest_distance = current_distance
closest_cow = cow
return closest_cow
