private void ChooseAction()
{
if (IsEnvironnementEmpty())
{
intentions.Enqueue(Action.ATTENDRE);
}
else
{
Node n;
if (informe) // Exploration informee
{
n = new NodeAStar(null, croyance, posI, posJ, Action.ATTENDRE);
}
else // Exploration non informee
{
n = new NodeUCS(null, croyance, posI, posJ, Action.ATTENDRE);
}
// On recupere la meilleure liste d'action et on la definit comme nos intensions
List <Action> actions = Exploration(n);
if (actions != null)
{
for (int i = actions.Count - 1; i >= 0; i--)
{
intentions.Enqueue(actions[i]);
}
}
}
}
public static List <Node> AStarSearch(Node n)
{
// Récupérer tous les neouds réalisables a partir de l'etat actuel
List <Node> neighbors = new List <Node>();
// Haut
if (n.agentPosJ > 0)
{
Node newNode = new NodeAStar(n, n.map, n.agentPosI, n.agentPosJ - 1, Action.HAUT);
neighbors.Add(newNode);
}
// Bas
if (n.agentPosJ < Rules.height - 1)
{
Node newNode = new NodeAStar(n, n.map, n.agentPosI, n.agentPosJ + 1, Action.BAS);
neighbors.Add(newNode);
}
// Gauche
if (n.agentPosI > 0)
{
Node newNode = new NodeAStar(n, n.map, n.agentPosI - 1, n.agentPosJ, Action.GAUCHE);
neighbors.Add(newNode);
}
// Droite
if (n.agentPosI < Rules.width - 1)
{
Node newNode = new NodeAStar(n, n.map, n.agentPosI + 1, n.agentPosJ, Action.DROITE);
neighbors.Add(newNode);
}
// Aspirer
if (n.NodeWithPoussiere(n.agentPosI, n.agentPosJ))
{
Node newNode = new NodeAStar(n, n.map, n.agentPosI, n.agentPosJ, Action.ASPIRER);
neighbors.Add(newNode);
}
// Ramasser
if (n.NodeWithBijou(n.agentPosI, n.agentPosJ))
{
Node newNode = new NodeAStar(n, n.map, n.agentPosI, n.agentPosJ, Action.RAMASSER);
neighbors.Add(newNode);
}
return(neighbors);
}
private List <Action> Exploration(Node root)
{
List <Node> visited = new List <Node>();
List <Node> frontiere = new List <Node> {
root
};
while (true)
{
if (frontiere.Count == 0)
{
return(null);
}
Node n = frontiere[0];
frontiere.RemoveAt(0);
// On ne reexplore pas les noeuds deja visites
while (visited.Contains(n))
{
n = frontiere[0];
frontiere.RemoveAt(0);
}
visited.Add(n);
// Si n est solution
if (n.cost < desir)
{
// On recupere la liste d'action en remontant la branche de l'arbre de decision
List <Action> actions = new List <Action>();
Node current = n;
while (current != null)
{
actions.Add(current.action);
current = current.parent;
}
return(actions);
}
// Expansion
if (n.depth < Rules.maxSearchDepth)
{
if (informe)
{
// Exploration AStar
frontiere.AddRange(NodeAStar.AStarSearch(n));
// Tri des noeuds par cout croissant
frontiere.Sort((x, y) => x.Eval().CompareTo(y.Eval()));
}
else
{
// Exploration Uniform Cost Search (UCS)
frontiere.AddRange(NodeUCS.UCSearch(n));
// Tri des noeuds par cout croissant
frontiere.Sort((x, y) => x.Eval().CompareTo(y.Eval()));
}
}
else
{
return(null);
}
}
}