def navigate2_m(state, agent, source, sink, rand=False):
possible_decomp = []
source_y, source_x = state.loc[source]
sink_y, sink_x = state.loc[sink]
if state.at[agent] == sink:
# already at destination
possible_decomp.append([])
elif can_traverse(state, source, sink):
# Next to the destination
possible_decomp.append([('navigate_op', agent, source, sink)])
else:
# Look for possible neighbors
neighbors = []
for n in navigation.get_neighbors(state, source):
if n not in state.visited[agent]:
neighbors.append(n)
sorted_n = sorted(neighbors, key=lambda n: navigation.heuristic(state, n, sink))
for mid in sorted_n:
possible_decomp.append([('navigate_op', agent, source, mid), ('visit', agent, mid), ('navigate2', agent, mid, sink), ('unvisit',agent, mid)])
if possible_decomp == []: return [False]
return possible_decomp
def get_rock_data_m(state, agent, rand=False):
keys = []
to_return = []
for (key, val) in state.at.items():
if val != None:
if (key in state.rocks):
# Using heapq
keys.append(key)
if state.has_rock_sample[agent]:
to_return = [[('get_a_rock_data', agent, state.rock_sample[agent])]]
if rand:
random.shuffle(keys)
sorted_keys = sorted(keys, key=lambda n: navigation.heuristic(state, state.at[agent], state.at[n]))
for k in sorted_keys:
to_return.append([('get_a_rock_data', agent, k)])
if len(to_return) == 0: return [False] # If there is no soil anywhere
return to_return
