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robocode-astar-search
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finished

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master
Peter Babič 9 years ago
parent 479311bfce
commit c5d1303af3
5 changed files with 74 additions and 108 deletions
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  1. 1
      .classpath
  2. 4
      src/environment/AStar.java
  3. 6
      src/environment/RouteFinder.java
  4. 6
      src/environment/World.java
  5. 165
      src/myrobot/RouteFindingRobot.java

1
.classpath
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@ -7,5 +7,6 @@
<attribute name="javadoc_location" value="file:/opt/robocode/javadoc/"/>
</attributes>
</classpathentry>
<classpathentry kind="lib" path="/usr/share/java/guava/guava.jar"/>
<classpathentry kind="output" path="bin"/>
</classpath>

4
src/environment/AStar.java
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@ -45,7 +45,8 @@ public class AStar {
}
}
if (current == stop) {
if (current.equals(stop)) {
stop.setParent(current.getParent());
break;
}
@ -59,6 +60,7 @@ public class AStar {
neighbors.add(new Node(world, current.getX(), current.getY() - world.getSquareEdgeLenght()));
current.setNeighbors(neighbors);
for (Node neighbor : current.getNeighbors()) {
if (neighbor == null || isOccupied(neighbor) || isOutsideMap(neighbor)) {
continue;

6
src/environment/RouteFinder.java
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@ -39,10 +39,10 @@ public class RouteFinder {
RobotSetup[] robotSetups = new RobotSetup[world.getNumObstacles() + 1];
int NdxObstacle = 0;
for (Node point : world.getObstacles()) {
for (Node node : world.getObstacles()) {
// added offset so the tanks are in the middle of the tiles
double InitialObstacleCol = (double) point.getX();
double InitialObstacleRow = (double) point.getY();
double InitialObstacleCol = (double) node.getX();
double InitialObstacleRow = (double) node.getY();
existingRobots[NdxObstacle] = modelRobots[0];
robotSetups[NdxObstacle++] = new RobotSetup(InitialObstacleCol, InitialObstacleRow, 0.0);
}

6
src/environment/World.java
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@ -8,7 +8,7 @@ import environment.Node;
public class World {
// PRNG seed - level
private final int LEVEL = 2;
private final int LEVEL = 4;
// Dimensional constants to match the background's grid pattern
private final int SQUARE_EDGE_LENGHT = 64;
@ -133,8 +133,8 @@ public class World {
int col = randInt(0, getNumCols() - 1);
int row = randInt(0, getNumRows() - 1);
// Generate node in this world
Node node = new Node(this, col, row);
// Generate node in this world (true for rows and cols not x and y)
Node node = new Node(this, col, row, true);
// Check if the node is still free
if (!obstacles.contains(node) && start != node && stop != node) {

165
src/myrobot/RouteFindingRobot.java
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@ -1,149 +1,112 @@
package myrobot;
import java.awt.Graphics2D;
import java.util.List;
import com.google.common.collect.Lists;
import environment.AStar;
import environment.World;
import environment.Node;
import robocode.Robot;
public class RouteFindingRobot extends Robot {
private World world = new World();
// private TreeSet<Node> open = new TreeSet<Node>();
// private TreeSet<Node> closed = new TreeSet<Node>();
// private Node[] open, closed = new Node[];
// private
// private static
public void run() {
AStar aStar = new AStar(world);
List<Node> nodes = aStar.getNodes();
doNothing();
// Node n = new Node(gen.start, new Point());
// open.add(n);
//
// while (true) {
// n = open.first();
// open.remove(n);
// closed.add(n);
//
// Point[] points = new Point[4];
//
// // Upper square
// points[0] = new Point(n.getCurrent().getX(), n.getCurrent().getY() + Generator.PX_STEP);
// // Right square
// points[1] = new Point(n.getCurrent().getX() + Generator.PX_STEP, n.getCurrent().getY());
// // Lower square
// points[2] = new Point(n.getCurrent().getX(), n.getCurrent().getY() - Generator.PX_STEP);
// // Left square
// points[3] = new Point(n.getCurrent().getX() - Generator.PX_STEP, n.getCurrent().getY());
//
// for (Point p : points) {
// if (isInsideMap(p) && isClear(p)) {
// Node adj = new Node(p, n.getCurrent());
// if (!closed.contains(adj)) {
// open.add(adj);
// }
// else if (open.contains(adj)) {
//// open.
// }
// }
// }
// Node nu = new Node(pu, n.getCurrent());
// Node nr = new Node(pr, n.getCurrent());
// Node nd = new Node(pd, n.getCurrent());
// Node nl = new Node(pl, n.getCurrent());
//
//
//
//// if (lowestP)
// }
for (Node node : Lists.reverse(nodes)) {
Node parent = node.getParent();
if (parent != null)
followPath(node, parent);
}
doNothing();
}
public void onPaint(Graphics2D g) {
// Set the paint color to red
g.setColor(java.awt.Color.GREEN);
// Paint a filled rectangle at (50,50) at size 100x150 pixels
g.fillRect(world.getStop().getX() - 16,
world.getStop().getY() - 16, 32, 32);
}
// private void processPoint(Point p) {
// if (isWalkable(p) && !closed.contains(p) && !open.contains(p)) {
//// open.add(p);
//
// }
// }
//
// private boolean isClear(Point p) {
// return !world.obstacles.contains(p);
// }
//
// private boolean isInsideMap(Point p) {
// return (p.getX() >= 0 &&
// p.getX() < World.NUM_COLS * World.SQUARE_EDGE_LENGHT &&
// p.getY() >= 0 &&
// p.getY() < World.NUM_ROWS * World.SQUARE_EDGE_LENGHT);
// }
private void turn(int dest) {
int curr = (int) getHeading();
if (curr != dest) {
int diff = curr - dest;
if (Math.abs(diff) > 180)
turnRight(diff % 180);
private void followPath(Node node, Node parent) {
if (node.getCol() < parent.getCol())
left();
else if (node.getCol() > parent.getCol())
right();
else if (node.getRow() < parent.getRow())
down();
else if (node.getRow() > parent.getRow())
up();
else
throw new RuntimeException("wrong movement");
}
private void turn(int destination) {
int current = (int) getHeading();
if (current != destination) {
int difference = current - destination;
if (Math.abs(difference) > 180)
turnRight(difference % 180);
else
turnLeft(diff);
turnLeft(difference);
}
}
public void steps(int num) {
private void steps(int num) {
ahead(num * world.getSquareEdgeLenght());
}
private void step() {
steps(1);
}
public void up() {
private void up() {
north();
steps(1);
step();
}
public void right() {
private void right() {
east();
steps(1);
step();
}
public void down() {
private void down() {
south();
steps(1);
step();
}
public void left() {
private void left() {
west();
steps(1);
}
public void north() {
private void north() {
turn(0);
}
public void east() {
private void east() {
turn(90);
}
public void south() {
private void south() {
turn(180);
}
public void west() {
private void west() {
turn(270);
}
}
}

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