public int UseMCTS(int x, int centerY)
{
Log.LogInformation("Driver MCTS - MCTS start");
int s = 1;
while (!RectangleAgent.obstacleOpenSpace[centerY + s, x])
{
s++;
}
Node square = new Node(x, centerY + s - 1, false);
this.nodes[0] = square;
int y = square.getY();
deleteCollectedDiamonds();
RectangleAgent.nodes = this.nodes;
RectangleAgent.CreateEdgesAndAdjacencyMatrix();
this.adjacencyMatrix = RectangleAgent.adjacencyMatrix;
this.directionMap = RectangleAgent.directionMap;
MCTS driverMCTS = new MCTS(this.nodes, this.adjacencyMatrix, RectangleAgent.nCollectiblesLeft, 2000);
Queue <Node> newRoute = driverMCTS.Run();
this.route = RectangleAgent.ClearRoute(newRoute.ToArray(), driverMCTS.outputNodeIndex);
return(recalcNextNodes("MCTS", x, y));
}
private int UseGreedyGoalAStar(int x, int centerY)
{
Log.LogInformation("Driver Greedy Goal AStar - Greedy Goal AStar start");
int s = 1;
while (!RectangleAgent.obstacleOpenSpace[centerY + s, x])
{
s++;
}
Node square = new Node(x, centerY + s - 1, false);
this.nodes[0] = square;
int y = square.getY();
deleteCollectedDiamonds();
RectangleAgent.nodes = this.nodes;
RectangleAgent.CreateEdgesAndAdjacencyMatrix();
this.adjacencyMatrix = RectangleAgent.adjacencyMatrix;
this.directionMap = RectangleAgent.directionMap;
this.route = RectangleAgent.calcShortestRouteAStar();
return(recalcNextNodes("Greedy Goal AStar", x, y));
}
private int UseSubgoalAStar(int x, int centerY)
{
Log.LogInformation("Driver Subgoal AStar - Subgoal AStar start");
int s = 1;
while (!RectangleAgent.obstacleOpenSpace[centerY + s, x])
{
s++;
}
Node square = new Node(x, centerY + s - 1, false);
this.nodes[0] = square;
int y = square.getY();
deleteCollectedDiamonds();
List <int> diamondNodes = new List <int>();
for (int n = 0; n < nodes.Count; n++)
{
if (nodes[n].getDiamond())
{
diamondNodes.Add(n);
}
}
RectangleAgent.nodes = this.nodes;
RectangleAgent.CreateEdgesAndAdjacencyMatrix();
this.adjacencyMatrix = RectangleAgent.adjacencyMatrix;
this.directionMap = RectangleAgent.directionMap;
SubgoalAStar sgAstar = new SubgoalAStar(0, diamondNodes, 2000, 0);
route = sgAstar.Run();
int diamondsToCollect = diamondNodes.Count - 1;
while (route == null)
{
sgAstar = new SubgoalAStar(0, diamondNodes, 2000, diamondsToCollect);
route = sgAstar.Run();
diamondsToCollect--;
if (diamondsToCollect == 0)
{
route = new Queue <Node>();
}
}
return(recalcNextNodes("Subgoal AStar", x, y));
}
public int UseMCTSWithAStar(int x, int centerY)
{
Log.LogInformation("Driver MCTS ASTAR - MCTS ASTAR start");
int s = 1;
while (!RectangleAgent.obstacleOpenSpace[centerY + s, x])
{
s++;
}
Node square = new Node(x, centerY + s - 1, false);
this.nodes[0] = square;
int y = square.getY();
deleteCollectedDiamonds();
RectangleAgent.nodes = this.nodes;
RectangleAgent.CreateEdgesAndAdjacencyMatrix();
this.adjacencyMatrix = RectangleAgent.adjacencyMatrix;
this.directionMap = RectangleAgent.directionMap;
MCTS driverMCTS = new MCTS(this.nodes, this.adjacencyMatrix, RectangleAgent.nCollectiblesLeft, 2000);
Queue <Node> newRoute = driverMCTS.Run();
this.route = RectangleAgent.ClearRoute(newRoute.ToArray(), driverMCTS.outputNodeIndex);
//AStar
Node[] routeAsArray = this.route.ToArray();
List <Node> diamondNodes = new List <Node>();
for (int n = 0; n < routeAsArray.Length; n++)
{
if (routeAsArray[n].getDiamond() && !diamondNodes.Contains(routeAsArray[n]))
{
diamondNodes.Add(routeAsArray[n]);
}
}
this.route = RectangleAgent.calcShortestRouteWithDiamondOrderAStar(diamondNodes);
//AStar end
return(recalcNextNodes("MCTS ASTAR", x, y));
}
private int UseYHeuristicAStar(int x, int centerY)
{
Log.LogInformation("Driver Y-Heuristic AStar - Y-Heuristic AStar start");
int s = 1;
while (!RectangleAgent.obstacleOpenSpace[centerY + s, x])
{
s++;
}
Node square = new Node(x, centerY + s - 1, false);
this.nodes[0] = square;
int y = square.getY();
deleteCollectedDiamonds();
List <Node> diamondNodes = new List <Node>();
for (int n = 0; n < nodes.Count; n++)
{
if (nodes[n].getDiamond())
{
diamondNodes.Add(nodes[n]);
}
}
RectangleAgent.nodes = this.nodes;
RectangleAgent.CreateEdgesAndAdjacencyMatrix();
this.adjacencyMatrix = RectangleAgent.adjacencyMatrix;
this.directionMap = RectangleAgent.directionMap;
diamondNodes = RectangleAgent.calcDiamondOrder(diamondNodes);
this.route = RectangleAgent.calcShortestRouteWithDiamondOrderAStar(diamondNodes);
return(recalcNextNodes("Y-Heuristic AStar", x, y));
}
public override Object execute(RectangleAgent executor)
{
executor.MorphDown();
return(null);
}
public override Object execute(RectangleAgent executor)
{
executor.NoAction();
return(null);
}
public override Object execute(RectangleAgent executor)
{
executor.MoveRight();
return(null);
}
public abstract Object execute(RectangleAgent executor);
public override Object execute(RectangleAgent executor)
{
executor.deleteDiamond(node);
return(null);
}
public override Object execute(RectangleAgent executor)
{
executor.MoveToPosition(x, move);
return(null);
}
public override Object execute(RectangleAgent executor)
{
executor.catchNextDiamond(node);
return(null);
}
public override Object execute(RectangleAgent executor)
{
return(executor.getCheapestPath());
}
public SquareWorldModel(RectangleAgent agent)
: base()
{
platformManager = new SquarePlatformManager(this);
this.agent = agent;
}