RouteFindingAgentApp extended for several goals.

Author: RuedigerLunde

aima-core/src/main/java/aima/core/environment/map/MapAgent.java

@@ -31,40 +31,39 @@
  */
 public class MapAgent extends ProblemSolvingAgent {
 
-	protected Map map = null;
-	protected DynamicState state = new DynamicState();
+	protected final Map map;
+	protected final DynamicState state = new DynamicState();
+	protected final List<String> goals = new ArrayList<String>();
+	protected int currGoalIdx = -1;
 
 	// possibly null...
-	private EnvironmentViewNotifier notifier = null;
+	protected EnvironmentViewNotifier notifier = null;
 	private Search search = null;
 	private HeuristicFunctionFactory hfFactory;
-	protected String[] goals = null;
-	protected int currGoalIdx = 0;
 
 	public MapAgent(Map map, Search search, String goal) {
 		this.map = map;
 		this.search = search;
-		this.goals = new String[] { goal };
+		goals.add(goal);
 	}
 
 	public MapAgent(Map map, Search search, String goal, EnvironmentViewNotifier notifier) {
 		this(map, search, goal);
 		this.notifier = notifier;
 	}
 
-	public MapAgent(Map map, Search search, String[] goals) {
+	public MapAgent(Map map, Search search, List<String> goals) {
 		this.map = map;
 		this.search = search;
-		this.goals = new String[goals.length];
-		System.arraycopy(goals, 0, this.goals, 0, goals.length);
+		this.goals.addAll(goals);
 	}
 
-	public MapAgent(Map map, Search search, String[] goals, EnvironmentViewNotifier notifier) {
+	public MapAgent(Map map, Search search, List<String> goals, EnvironmentViewNotifier notifier) {
 		this(map, search, goals);
 		this.notifier = notifier;
 	}
 
-	public MapAgent(Map map, Search search, String[] goals, EnvironmentViewNotifier notifier,
+	public MapAgent(Map map, Search search, List<String> goals, EnvironmentViewNotifier notifier,
 			HeuristicFunctionFactory hfFactory) {
 		this(map, search, goals, notifier);
 		this.hfFactory = hfFactory;
@@ -76,17 +75,15 @@ public MapAgent(Map map, Search search, String[] goals, EnvironmentViewNotifier
 	@Override
 	protected State updateState(Percept p) {
 		DynamicPercept dp = (DynamicPercept) p;
-
 		state.setAttribute(DynAttributeNames.AGENT_LOCATION, dp.getAttribute(DynAttributeNames.PERCEPT_IN));
-
 		return state;
 	}
 
 	@Override
 	protected Object formulateGoal() {
 		Object goal = null;
-		if (currGoalIdx < goals.length) {
-			goal = goals[currGoalIdx++];
+		if (currGoalIdx < goals.size() - 1) {
+			goal = goals.get(++currGoalIdx);
 			if (notifier != null)
 				notifier.notifyViews("CurrentLocation=In(" + state.getAttribute(DynAttributeNames.AGENT_LOCATION)
 						+ "), Goal=In(" + goal + ")");
@@ -129,9 +126,8 @@ private void modifyHeuristicFunction(Object goal) {
 				ef = ((BestFirstSearch) search).getEvaluationFunction();
 			else if (search instanceof RecursiveBestFirstSearch)
 				ef = ((RecursiveBestFirstSearch) search).getEvaluationFunction();
-			if (ef instanceof HeuristicEvaluationFunction) {
+			if (ef instanceof HeuristicEvaluationFunction)
 				((HeuristicEvaluationFunction) ef).setHeuristicFunction(hfFactory.createHeuristicFunction(goal));
-			}
 		}
 	}
 }

aimax-osm/src/main/java/aimax/osm/gui/fx/applications/OsmAgentBaseApp.java

@@ -176,7 +176,7 @@ public void initialize() {
 	public void simulate() {
 		List<MapNode> markers = map.getOsmMap().getMarkers();
 		if (markers.size() < 2) {
-			simPaneCtrl.setStatus("Error: Please set two markers with mouse-left.");
+			simPaneCtrl.setStatus("Error: Please set at least two markers with mouse-left.");
 		} else {
 			List<String> locations = new ArrayList<String>(markers.size());
 			for (int i = 0; i < markers.size(); i++) {

aimax-osm/src/main/java/aimax/osm/gui/fx/applications/OsmRouteFindingAgentApp.java

@@ -3,9 +3,14 @@
 import java.util.HashSet;
 import java.util.List;
 
+import aima.core.agent.Agent;
+import aima.core.environment.map.MapAgent;
+import aima.core.environment.map.MapFunctionFactory;
+import aima.core.search.framework.HeuristicFunctionFactory;
 import aima.core.search.framework.Node;
 import aima.core.search.framework.NodeExpander;
 import aima.core.search.framework.SearchForActions;
+import aima.gui.util.SearchFactory;
 import aimax.osm.data.EntityClassifier;
 import aimax.osm.data.entities.EntityViewInfo;
 import aimax.osm.data.entities.MapNode;
@@ -19,8 +24,10 @@
 
 /**
  * Integrable application which demonstrates how different kinds of search
- * algorithms perform an a route finding scenario based on a real OSM map. Map
- * locations corresponding to expanded nodes are highlighted in green.
+ * algorithms perform in a route finding scenario based on a real OSM map. This
+ * implementation extends <code>OsmAgentBaseApp</code> by two aspects: Map
+ * locations corresponding to expanded nodes are highlighted in green. The user
+ * can define several goals by placing more then two markers on the map.
  *
  * @author Ruediger Lunde
  *
@@ -56,14 +63,28 @@ public Pane createRootPane() {
 		return root;
 	}
 
+	/**
+	 * The method is called after each parameter selection change. This
+	 * implementation clears visited states of the last simulation run, prepares
+	 * the map for different kinds of vehicles and clears the currently
+	 * displayed track.
+	 */
+	@Override
+	public void initialize() {
+		visitedStates.clear();
+		super.initialize();
+	}
+
 	/**
 	 * Factory method which creates a search strategy based on the current
-	 * parameter settings. Here, a node expander is added to visualize
-	 * progress during search.
+	 * parameter settings. Here, a listener is added to the node expander to
+	 * visualize progress during search. A dummy heuristic function is used
+	 * because the agent will replace it anyway.
 	 */
 	@Override
 	protected SearchForActions createSearch(List<String> locations) {
-		SearchForActions result = super.createSearch(locations);
+		SearchForActions result = SearchFactory.getInstance().createSearch(simPaneCtrl.getParamValueIndex(PARAM_SEARCH),
+				simPaneCtrl.getParamValueIndex(PARAM_Q_SEARCH_IMPL), MapFunctionFactory.getZeroHeuristicFunction());
 		result.getNodeExpander().addNodeListener(new NodeExpander.NodeListener() {
 			@Override
 			public void onNodeExpanded(Node node) {
@@ -74,6 +95,20 @@ public void onNodeExpanded(Node node) {
 		return result;
 	}
 
+	/**
+	 * Factory method which creates a new agent based on the current parameter
+	 * settings. The agent is provided with a heuristic function factory to
+	 * adapt to different goals.
+	 */
+	protected Agent createAgent(SearchForActions search, List<String> locations) {
+		HeuristicFunctionFactory hfFactory;
+		if (simPaneCtrl.getParamValueIndex(PARAM_HEURISTIC) == 0)
+			hfFactory = (goal) -> MapFunctionFactory.getZeroHeuristicFunction();
+		else
+			hfFactory = (goal) -> MapFunctionFactory.getSLDHeuristicFunction(goal, map);
+		return new MapAgent(map, search, locations.subList(1, locations.size()), envViewCtrl::notify, hfFactory);
+	}
+
 	// helper classes...
 
 	/**