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package aima.core.environment.xyenv;
import java.util.LinkedHashMap;
import java.util.LinkedHashSet;
import java.util.Map;
import java.util.Set;
import aima.core.agent.Action;
import aima.core.agent.Agent;
import aima.core.agent.EnvironmentObject;
import aima.core.agent.EnvironmentState;
import aima.core.agent.Percept;
import aima.core.agent.impl.AbstractEnvironment;
import aima.core.agent.impl.DynamicPercept;
import aima.core.util.datastructure.XYLocation;
/**
* @author Ravi Mohan
* @author Ciaran O'Reilly
*/
public class XYEnvironment extends AbstractEnvironment {
private XYEnvironmentState envState = null;
//
// PUBLIC METHODS
//
public XYEnvironment(int width, int height) {
assert (width > 0);
assert (height > 0);
envState = new XYEnvironmentState(width, height);
}
/** Does nothing (don't ask me why...). */
@Override
public void executeAction(Agent a, Action action) {
}
@Override
public Percept getPerceptSeenBy(Agent anAgent) {
return new DynamicPercept();
}
public void addObjectToLocation(EnvironmentObject eo, XYLocation loc) {
moveObjectToAbsoluteLocation(eo, loc);
}
public void moveObjectToAbsoluteLocation(EnvironmentObject eo, XYLocation loc) {
// Ensure the object is not already at a location
envState.moveObjectToAbsoluteLocation(eo, loc);
// Ensure is added to the environment
addEnvironmentObject(eo);
}
public void moveObject(EnvironmentObject eo, XYLocation.Direction direction) {
XYLocation presentLocation = envState.getCurrentLocationFor(eo);
if (null != presentLocation) {
XYLocation locationToMoveTo = presentLocation.locationAt(direction);
if (!(isBlocked(locationToMoveTo))) {
moveObjectToAbsoluteLocation(eo, locationToMoveTo);
}
}
}
public XYLocation getCurrentLocationFor(EnvironmentObject eo) {
return envState.getCurrentLocationFor(eo);
}
public Set getObjectsAt(XYLocation loc) {
return envState.getObjectsAt(loc);
}
public Set getObjectsNear(Agent agent, int radius) {
return envState.getObjectsNear(agent, radius);
}
public boolean isBlocked(XYLocation loc) {
for (EnvironmentObject eo : envState.getObjectsAt(loc)) {
if (eo instanceof Wall) {
return true;
}
}
return false;
}
public void makePerimeter() {
for (int i = 0; i < envState.width; i++) {
XYLocation loc = new XYLocation(i, 0);
XYLocation loc2 = new XYLocation(i, envState.height - 1);
envState.moveObjectToAbsoluteLocation(new Wall(), loc);
envState.moveObjectToAbsoluteLocation(new Wall(), loc2);
}
for (int i = 0; i < envState.height; i++) {
XYLocation loc = new XYLocation(0, i);
XYLocation loc2 = new XYLocation(envState.width - 1, i);
envState.moveObjectToAbsoluteLocation(new Wall(), loc);
envState.moveObjectToAbsoluteLocation(new Wall(), loc2);
}
}
}
class XYEnvironmentState implements EnvironmentState {
int width;
int height;
private Map> objsAtLocation = new LinkedHashMap>();
public XYEnvironmentState(int width, int height) {
this.width = width;
this.height = height;
for (int h = 1; h <= height; h++) {
for (int w = 1; w <= width; w++) {
objsAtLocation.put(new XYLocation(h, w), new LinkedHashSet());
}
}
}
public void moveObjectToAbsoluteLocation(EnvironmentObject eo, XYLocation loc) {
// Ensure is not already at another location
for (Set eos : objsAtLocation.values()) {
if (eos.remove(eo)) {
break; // Should only every be at 1 location
}
}
// Add it to the location specified
getObjectsAt(loc).add(eo);
}
public Set getObjectsAt(XYLocation loc) {
Set objectsAt = objsAtLocation.get(loc);
if (null == objectsAt) {
// Always ensure an empty Set is returned
objectsAt = new LinkedHashSet();
objsAtLocation.put(loc, objectsAt);
}
return objectsAt;
}
public XYLocation getCurrentLocationFor(EnvironmentObject eo) {
for (XYLocation loc : objsAtLocation.keySet()) {
if (objsAtLocation.get(loc).contains(eo)) {
return loc;
}
}
return null;
}
public Set getObjectsNear(Agent agent, int radius) {
Set objsNear = new LinkedHashSet();
XYLocation agentLocation = getCurrentLocationFor(agent);
for (XYLocation loc : objsAtLocation.keySet()) {
if (withinRadius(radius, agentLocation, loc)) {
objsNear.addAll(objsAtLocation.get(loc));
}
}
// Ensure the 'agent' is not included in the Set of
// objects near
objsNear.remove(agent);
return objsNear;
}
@Override
public String toString() {
return "XYEnvironmentState:" + objsAtLocation.toString();
}
//
// PRIVATE METHODS
//
private boolean withinRadius(int radius, XYLocation agentLocation, XYLocation objectLocation) {
int xdifference = agentLocation.getXCoOrdinate() - objectLocation.getXCoOrdinate();
int ydifference = agentLocation.getYCoOrdinate() - objectLocation.getYCoOrdinate();
return Math.sqrt((xdifference * xdifference) + (ydifference * ydifference)) <= radius;
}
}