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search_rover.py
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search_rover.py
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import heapq
of = open('output.txt','w+')
handle = open('input.txt','r+')
algorithm_string = (handle.readline()).split() #algorithm to be implemented
dimension = (handle.readline()).split() #reading matrix dimensions
W = int(dimension[0])
H = int(dimension[1])
start_coordinates = (handle.readline()).split()
Y,X = int(start_coordinates[0]),int(start_coordinates[1])
elevation_difference_list = (handle.readline()).split()
elevation_difference = int(elevation_difference_list[0])
Number_of_target_locations = (handle.readline()).split()
N = int(Number_of_target_locations[0]) #number of goal state to search
l = []
for i in range(N): #read multiple target locations
landing_coordinates = (handle.readline()).split()
lc = [int(j) for j in landing_coordinates]
l.append(lc)
matrix = []
for j in range(H):
line = handle.readline().split()
mat = [int(i) for i in line]
matrix.append(mat)
explored_set = dict() #store the explored coordinates
explored_set_cost = []
parent = dict() #store parents
index = []
oldCost = 0
wholelist = dict()
#Search funtion definitions
def bfs(x,y):
index.clear()
explored_set.clear()
parent.clear()
Flag = False #false till finds a solution
if X == x and Y == y: #insert initial state into explored set and check if it is goal state
Flag = True
else:
#print(y,x)
index.append([X,Y]) #frontier node having coordinates
explored_set.update({(X,Y) : 1}) #add to explored set
while len(index) > 0:
current = index.pop(0)
currentX,currentY = current[0],current[1]
for a in range(currentX-1,currentX+2):
for b in range(currentY-1,currentY+2):
if a > -1 and b > -1 and a < H and b < W \
and (currentX,currentY) != (a,b)\
and (a,b) not in explored_set.keys()\
and abs(matrix[currentX][currentY] - matrix[a][b]) <= elevation_difference:
index.append([a,b])
explored_set.update({(a,b) : 1}) #add to explored set
parent.update({(b,a) : (currentY,currentX)})
#print(parent)
if (a,b) == (x,y):
#print("solutionsssssssssssssss")
Flag = True
break
path = [(y,x)]
output = ""
try:
while path[-1] != (Y,X):
path.append(parent[path[-1]])
path.reverse()
if Flag:
for i in path:
output = output + " " + str(i[0]) + "," + str(i[1])
of.write(output.lstrip())
of.write("\n")
of.close()
else:
output = output + "\n"
of.write(output)
of.close()
except:
output = output + "\n"
of.write(output)
of.close()
def ucs(x,y):
explored_set.clear()
index.clear()
parent.clear()
wholelist.clear()
Flag = False
path_cost = 0
if X == x and Y == y: #insert initial state into explored set and check if it is goal state
output = ""
output += str(y) + "," + str(x)
output += "\n"
of.write(output)
Flag = True
else:
heapq.heappush(index,[path_cost,X,Y]) #frontier node having coordinates
explored_set.update({(X,Y):1})#add to explored set
wholelist.update({(X,Y) : path_cost})
while len(index) != 0:
current = heapq.heappop(index)
currentCost,currentX,currentY = current[0],current[1],current[2]
if (currentY,currentX) == (y,x):
path = [(y,x)]
Flag = True
break
if (currentX,currentY) in wholelist.keys():
del wholelist[currentX,currentY]
for a in range(currentX-1,currentX+2):
for b in range(currentY-1,currentY+2):
if (a,b) not in wholelist.keys():
f = 1
else:
oldCost = wholelist[a,b]
f = 0
if (a > -1 and b > -1) and (a < H and b < W) \
and (a,b) not in explored_set.keys()\
and (currentX,currentY) != (a,b)\
and abs(matrix[currentX][currentY] - matrix[a][b]) <= elevation_difference:
if (a == currentX or b == currentY):
newCost = currentCost + 10
heapq.heappush(index,[newCost,a,b])
explored_set.update({(a,b) : 1}) #add to explored set
wholelist.update({(a,b) : newCost})
parent.update({(a,b) : (currentY,currentX)})
else:
newCost = currentCost + 14
heapq.heappush(index,[newCost,a,b])
explored_set.update({(a,b) : newCost}) #add to explored set
wholelist.update({(a,b) : newCost})
parent.update({(b,a) : (currentY,currentX)})
elif f == 0:
if (a == currentX or b == currentY):
newCost = currentCost + 10
if oldCost > newCost:
heapq.heappush(index,[newCost,a,b])
wholelist.update({(a,b) : newCost})
parent.update({(b,a) : (currentY,currentX)})
else:
newCost = currentCost + 14
if oldCost> newCost:
print(oldCost,newCost)
heapq.heappush(index,[newCost,a,b])
wholelist.update({(a,b) : newCost})
parent.update({(b,a) : (currentY,currentX)})
path = [(y,x)]
output = ""
try:
while path[-1] != (Y,X):
path.append(parent[path[-1]])
path.reverse()
print(path)
if Flag:
for i in path:
output += " " + str(i[0]) + "," + str(i[1])
output += "\n"
of.write(output.lstrip())
of.close()
else:
output = "FAIL"
output += "\n"
of.write(output)
except:
output = "FAIL"
output = "\n"
of.write(output)
def ass(x,y):
Flag = False
path_cost = 0
if X == x and Y == y: #insert initial state into explored set and check if it is goal state
#print("goal state")
#print(X,Y)
Flag = True
else:
index = []
heapq.heappush(index,[path_cost,X,Y]) #frontier node having coordinates
#print(index)
explored_set.update({(X,Y) : path_cost})#add to explored set
explored_set_cost.append(path_cost)
while len(index) != 0:
current = heapq.heappop(index)
#print(current)
currentCost,currentX,currentY = current[0],current[1],current[2]
#print("cost : ",currentCost)
#print("X,Y : ",currentX,currentY)
if (currentY,currentX) == (y,x):
path = [(y,x)]
#print("solutionsssssssssssss")
Flag = True
break
for a in range(currentX-1,currentX+2):
for b in range(currentY-1,currentY+2):
if (a > -1 and b > -1) and (a < H and b < W) \
and [a,b] not in explored_set\
and (currentX,currentY) != (a,b)\
and abs(matrix[currentX][currentY] - matrix[a][b]) <= elevation_difference:
if (a == currentX or b == currentY):
newCost = currentCost + 10
#print("new a and b",a,b)
#print(" child cost : ",newCost)
heapq.heappush(index,[newCost,a,b])
#print("after pushing in queue : ",index)
explored_set_cost.append(newCost)
explored_set.append({(a,b) : newCost}) #add to explored set
#print(explored_set)
parent[b,a] = (currentY,currentX)
else:
newCost = currentCost + 14
#print(a,b)
#print("dcost : ",newCost)
heapq.heappush(index,[newCost,a,b])
#print("after pushing diagonal element in queue : ",index)
explored_set_cost.append(newCost)
explored_set.update({(a,b) : newCost}) #add to explored set
parent[b,a] = (currentY,currentX)
elif (a > -1 and b > -1) and (a < H and b < W) \
and (currentX,currentY) != (a,b) and (a,b) != (X,Y)\
and [a,b] in explored_set\
and abs(matrix[currentX][currentY] - matrix[a][b]) <= elevation_difference:
#print("already in queue : ")
z = explored_set.index([a,b])
oldCost = explored_set_cost[z]
if (a == currentX or b == currentY):
newCost = currentCost + 10
if oldCost > newCost:
explored_set_cost[z] = newCost
#print(a,b)
#print("new cost : ",newCost)
heapq.heapreplace(index,[newCost,a,b])
parent[b,a] = (currentY,currentX)
else:
newCost = currentCost + 14
if oldCost> newCost:
explored_set_cost[z]=newCost
#print(a,b)
#print("new cost : ",newCost)
heapq.heapreplace(index,[newCost,a,b])
parent[b,a] = (currentY,currentX)
path = [(y,x)]
output = ""
try:
while path[-1] != (Y,X):
path.append(parent[path[-1]])
path.reverse()
print(path[-1])
if Flag:
for i in path:
output = output + " " + str(i[0]) + "," + str(i[1])
handle = open("output.txt",'w+')
handle.write(output.lstrip())
handle.write("\n")
else:
handle = open('output.txt','w+')
handle.write("FAIL")
#return "FAIL"
except:
handle = open('output.txt','w+')
handle.write("FAIL")
#print("FAIL")
if(algorithm_string[0] == "BFS"): #BFS implementation
#print("BFS implementation")
for b in range(N):
#print(b)
y,x = l[b][0],l[b][1]
#print(b)
#print(y,x)
bfs(x,y)
elif(algorithm_string[0] == "UCS"): #UCS
#print("UCS implementation")
for b in range(N):
y,x = l[b][0],l[b][1]
#print(x,y)
#print(N)
ucs(x,y)
elif(algorithm_string[0] == "A*"): #A* search
#print("A* search implementation")
for b in range(N):
y,x = l[b][0],l[b][1]
#print(x,y)
#print(N)
ass(x,y)