这是我们模拟那些roomba真空吸尘器机器人的任务。无论如何，我真的很感激runSimulation功能的一些帮助。它在while循环中启动到无限循环。据我所知，在while循环条件下计算的值是正确的，但是每次测试while循环时它们是否都被初始化了？我不这么认为，但可能是错的。因此，此模拟函数实例化宽度和高度的房间以及num_robots的机器人，并且模拟运行直到清洁地板直到达到min_coverage。 runSimulation的结果是达到min_coverage所需的平均时间步长。提前谢谢！
Simulating robots
import math
import random
import ps2_visualize
import pylab
from ps2_verify_movement27 import testRobotMovement
class Position(object):
"""
A Position represents a location in a two-dimensional room.
"""
def __init__(self, x, y):
"""
Initializes a position with coordinates (x, y).
"""
self.x = x
self.y = y
def getX(self):
return self.x
def getY(self):
return self.y
def getNewPosition(self, angle, speed):
"""
Computes and returns the new Position after a single clock-tick has
passed, with this object as the current position, and with the
specified angle and speed.
Does NOT test whether the returned position fits inside the room.
angle: number representing angle in degrees, 0 <= angle < 360
speed: positive float representing speed
Returns: a Position object representing the new position.
"""
old_x, old_y = self.getX(), self.getY()
angle = float(angle)
# Compute the change in position
delta_y = speed * math.cos(math.radians(angle))
delta_x = speed * math.sin(math.radians(angle))
# Add that to the existing position
new_x = old_x + delta_x
new_y = old_y + delta_y
return Position(new_x, new_y)
def __str__(self):
return "(%0.2f, %0.2f)" % (self.x, self.y)
class RectangularRoom(object):
"""
A RectangularRoom represents a rectangular region containing clean or dirty
tiles.
A room has a width and a height and contains (width * height) tiles. At any
particular time, each of these tiles is either clean or dirty.
"""
def __init__(self, width, height):
"""
Initializes a rectangular room with the specified width and height.
Initially, no tiles in the room have been cleaned.
width: an integer > 0
height: an integer > 0
"""
self.width = width
self.height = height
self.tiles = [[False] * self.height for i in range(self.width)]
def cleanTileAtPosition(self, pos):
"""
Mark the tile under the position POS as cleaned.
Assumes that POS represents a valid position inside this room.
pos: a Position - pos is a tuple (x, y)
"""
(x_tile, y_tile) = (int(math.floor(pos.getX())), int(math.floor(pos.getY())))
#print (x_tile, y_tile)
self.tiles[x_tile][y_tile] = True
def isTileCleaned(self, m, n):
"""
Return True if the tile (m, n) has been cleaned.
Assumes that (m, n) represents a valid tile inside the room.
m: an integer
n: an integer
returns: True if (m, n) is cleaned, False otherwise
"""
self.m = m
self.n = n
if self.tiles[self.m][self.n] == True:
return True
else:
return False
def getNumTiles(self):
"""
Return the total number of tiles in the room.
returns: an integer
"""
return self.width*self.height
def getNumCleanedTiles(self):
"""
Return the total number of clean tiles in the room.
returns: an integer
"""
numCleanTiles = 0
for row in range(self.width):
for column in range(self.height):
if self.tiles[row][column] == True:
numCleanTiles +=1
return numCleanTiles
def getRandomPosition(self):
"""
Return a random position inside the room.
returns: a Position object.
"""
#
return Position(random.randrange(0, self.width), random.randrange(0, self.height))
def isPositionInRoom(self, pos):
"""
Return True if pos is inside the room.
pos: a Position object.
returns: True if pos is in the room, False otherwise.
"""
if 0 <= pos.getX() < self.width and 0 <= pos.getY() < self.height:
return True
else:
return False
class Robot(object):
"""
Represents a robot cleaning a particular room.
At all times the robot has a particular position and direction in the room.
The robot also has a fixed speed.
Subclasses of Robot should provide movement strategies by implementing
updatePositionAndClean(), which simulates a single time-step.
"""
def __init__(self, room, speed):
"""
Initializes a Robot with the given speed in the specified room. The
robot initially has a random direction and a random position in the
room. The robot cleans the tile it is on.
room: a RectangularRoom object.
speed: a float (speed > 0)
"""
#raise NotImplementedError
self.room = room
self.speed = speed
self.position = self.room.getRandomPosition()
self.direction = random.randint(0, 359)
self.room.cleanTileAtPosition(self.position)
def getRobotPosition(self):
"""
Return the position of the robot.
returns: a Position object giving the robot's position.
"""
return self.position
def getRobotDirection(self):
"""
Return the direction of the robot.
returns: an integer d giving the direction of the robot as an angle in
degrees, 0 <= d < 360.
"""
d = self.direction
return d
def setRobotPosition(self, position):
"""
Set the position of the robot to POSITION.
position: a Position object.
"""
self.position = position
return self.position
def setRobotDirection(self, direction):
"""
Set the direction of the robot to DIRECTION.
direction: integer representing an angle in degrees
"""
self.direction = direction
return self.direction
def updatePositionAndClean(self):
"""
Simulate the raise passage of a single time-step.
Move the robot to a new position and mark the tile it is on as having
been cleaned.
"""
raise NotImplementedError # don't change this!
class StandardRobot(Robot):
"""
A StandardRobot is a Robot with the standard movement strategy.
At each time-step, a StandardRobot attempts to move in its current
direction; when it would hit a wall, it *instead* chooses a new direction
randomly.
"""
def updatePositionAndClean(self):
"""
Simulate the raise passage of a single time-step.
Move the robot to a new position and mark the tile it is on as having
been cleaned.
"""
newPosition = self.position.getNewPosition(self.direction, self.speed)
if 0 <= newPosition.getX() <= self.room.width and 0 <= newPosition.getY() <= self.room.height:
self.setRobotPosition(newPosition)
self.room.cleanTileAtPosition(self.position)
else:
self.setRobotDirection(random.randint(0, 359))
# Uncomment this line to see your implementation of StandardRobot in action!
#testRobotMovement(StandardRobot, RectangularRoom)
def runSimulation(num_robots, speed, width, height, min_coverage, num_trials,
robot_type):
"""
Runs NUM_TRIALS trials of the simulation and returns the mean number of
time-steps needed to clean the fraction MIN_COVERAGE of the room.
The simulation is run with NUM_ROBOTS robots of type ROBOT_TYPE, each with
speed SPEED, in a room of dimensions WIDTH x HEIGHT.
num_robots: an int (num_robots > 0)
speed: a float (speed > 0)
width: an int (width > 0)
height: an int (height > 0)
min_coverage: a float (0 <= min_coverage <= 1.0)
num_trials: an int (num_trials > 0)
robot_type: class of robot to be instantiated (e.g. StandardRobot or
RandomWalkRobot)
"""
numTimeStepsList = []
for i in range(num_trials):
room1 = RectangularRoom(width, height)
numTimeSteps = 0
robot = []
for n in range(num_robots-1):
robot[n] = robot_type(room1, speed)
while (1.0 - float(room1.getNumCleanedTiles())/float(room1.getNumTiles())) >= min_coverage:
for n in range(num_robots-1):
robot[n].updatePositionAndClean()
numTimeSteps += 1
#print numTimeSteps
numTimeStepsList.append(numTimeSteps)
#print numTimeStepsList
return sum(numTimeStepsList)/len(numTimeStepsList)
#raise NotImplementedError
# Uncomment this line to see how much your simulation takes on average
print runSimulation(1, 1.0, 10, 10, 0.75, 30, StandardRobot)
class RandomWalkRobot(Robot):
"""
A RandomWalkRobot is a robot with the "random walk" movement strategy: it
chooses a new direction at random at the end of each time-step.
"""
def updatePositionAndClean(self):
"""
Simulate the passage of a single time-step.
Move the robot to a new position and mark the tile it is on as having
been cleaned.
"""
raise NotImplementedError
def showPlot1(title, x_label, y_label):
"""
What information does the plot produced by this function tell you?
"""
num_robot_range = range(1, 11)
times1 = []
times2 = []
for num_robots in num_robot_range:
print "Plotting", num_robots, "robots..."
times1.append(runSimulation(num_robots, 1.0, 20, 20, 0.8, 20, StandardRobot))
times2.append(runSimulation(num_robots, 1.0, 20, 20, 0.8, 20, RandomWalkRobot))
pylab.plot(num_robot_range, times1)
pylab.plot(num_robot_range, times2)
pylab.title(title)
pylab.legend(('StandardRobot', 'RandomWalkRobot'))
pylab.xlabel(x_label)
pylab.ylabel(y_label)
pylab.show()
def showPlot2(title, x_label, y_label):
"""
What information does the plot produced by this function tell you?
"""
aspect_ratios = []
times1 = []
times2 = []
for width in [10, 20, 25, 50]:
height = 300/width
print "Plotting cleaning time for a room of width:", width, "by height:", height
aspect_ratios.append(float(width) / height)
times1.append(runSimulation(2, 1.0, width, height, 0.8, 200, StandardRobot))
times2.append(runSimulation(2, 1.0, width, height, 0.8, 200, RandomWalkRobot))
pylab.plot(aspect_ratios, times1)
pylab.plot(aspect_ratios, times2)
pylab.title(title)
pylab.legend(('StandardRobot', 'RandomWalkRobot'))
pylab.xlabel(x_label)
pylab.ylabel(y_label)
pylab.show()
答案 0 :(得分：0)
当您使用runSimulation num_robots参数调用1时，它实际上根本不会制作任何机器人，因此无法清除任何机器人。
罪魁祸首就是这个循环：
for n in range(num_robots-1):
robot[n] = robot_type(room1, speed)
这几乎都是错的。您无法分配robot列表中的任何索引，因为它从空开始。并且你总是比你想要的时间少一些循环（如果num_robots是1，则为零次）。你可能想要更像的东西：
for _ in range(num_robots):
robot.append(robot_type(room1, speed))