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# search.py
# ---------
# Licensing Information: You are free to use or extend these projects for
# educational purposes provided that (1) you do not distribute or publish
# solutions, (2) you retain this notice, and (3) you provide clear
# attribution to UC Berkeley, including a link to http://ai.berkeley.edu.
#
# Attribution Information: The Pacman AI projects were developed at UC Berkeley.
# The core projects and autograders were primarily created by John DeNero
# (denero@cs.berkeley.edu) and Dan Klein (klein@cs.berkeley.edu).
# Student side autograding was added by Brad Miller, Nick Hay, and
# Pieter Abbeel (pabbeel@cs.berkeley.edu).
"""
In search.py, you will implement generic search algorithms which are called by
Pacman agents (in searchAgents.py).
"""
import util
class SearchProblem:
"""
This class outlines the structure of a search problem, but doesn't implement
any of the methods (in object-oriented terminology: an abstract class).
You do not need to change anything in this class, ever.
"""
def getStartState(self):
"""
Returns the start state for the search problem.
"""
util.raiseNotDefined()
def isGoalState(self, state):
"""
state: Search state
Returns True if and only if the state is a valid goal state.
"""
util.raiseNotDefined()
def getSuccessors(self, state):
"""
state: Search state
For a given state, this should return a list of triples, (successor,
action, stepCost), where 'successor' is a successor to the current
state, 'action' is the action required to get there, and 'stepCost' is
the incremental cost of expanding to that successor.
"""
util.raiseNotDefined()
def getCostOfActions(self, actions):
"""
actions: A list of actions to take
This method returns the total cost of a particular sequence of actions.
The sequence must be composed of legal moves.
"""
util.raiseNotDefined()
def tinyMazeSearch(problem):
"""
Returns a sequence of moves that solves tinyMaze. For any other maze, the
sequence of moves will be incorrect, so only use this for tinyMaze.
"""
from game import Directions
s = Directions.SOUTH
w = Directions.WEST
return [s, s, w, s, w, w, s, w]
def depthFirstSearch(problem):
"""
Search the deepest nodes in the search tree first.
Your search algorithm needs to return a list of actions that reaches the
goal. Make sure to implement a graph search algorithm.
To get started, you might want to try some of these simple commands to
understand the search problem that is being passed in:
print "Start:", problem.getStartState()
print "Is the start a goal?", problem.isGoalState(problem.getStartState())
print "Start's successors:", problem.getSuccessors(problem.getStartState())
"""
"*** YOUR CODE HERE ***"
def traverse(problem, node, visited):
# Add nextNode to visited list
visited.append(node[0])
# Recursive base case
if problem.isGoalState(node[0]):
return [node[1]]
pq = util.PriorityQueueWithFunction(lambda child: child[2])
# Get all successors and push them into a priority queue based on cost
children = problem.getSuccessors(node[0])
for nextNode in children:
# Check that nextNode has not been visited
if nextNode[0] in visited:
continue
# Push the child if it was not visited
pq.push(nextNode)
while not pq.isEmpty():
# Pop lowest cost child from the queue
nextNode = pq.pop()
# Recursive call to nextNode
path = traverse(problem, nextNode, visited)
# Check if recursive call returned values
if path != None:
# Check to not add the initial node
if node[1] != None:
# Add the node the start of the list (reverse it)
path.insert(0, node[1])
return path
return traverse(problem, (problem.getStartState(), None, 0), [])
def breadthFirstSearch(problem):
"""Search the shallowest nodes in the search tree first."""
"*** YOUR CODE HERE ***"
util.raiseNotDefined()
def uniformCostSearch(problem):
"""Search the node of least total cost first."""
"*** YOUR CODE HERE ***"
util.raiseNotDefined()
def nullHeuristic(state, problem=None):
"""
A heuristic function estimates the cost from the current state to the nearest
goal in the provided SearchProblem. This heuristic is trivial.
"""
return 0
def aStarSearch(problem, heuristic=nullHeuristic):
"""Search the node that has the lowest combined cost and heuristic first."""
"*** YOUR CODE HERE ***"
util.raiseNotDefined()
# Abbreviations
bfs = breadthFirstSearch
dfs = depthFirstSearch
astar = aStarSearch
ucs = uniformCostSearch
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