SearchDemoOsmAgenApp now supports bidirectional search.

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

@@ -2,31 +2,32 @@
 
 import aima.core.search.framework.BidirectionalProblem;
 import aima.core.search.framework.DefaultGoalTest;
+import aima.core.search.framework.GoalTest;
 import aima.core.search.framework.Problem;
 
 /**
  * @author Ciaran O'Reilly
  * 
  */
-public class BidirectionalMapProblem extends Problem implements
-		BidirectionalProblem {
+public class BidirectionalMapProblem extends Problem implements BidirectionalProblem {
 
 	Map map;
 
 	Problem reverseProblem;
 
-	public BidirectionalMapProblem(Map map, String initialState,
-			String goalState) {
-		super(initialState, MapFunctionFactory.getActionsFunction(map),
-				MapFunctionFactory.getResultFunction(), new DefaultGoalTest(
-						goalState), new MapStepCostFunction(map));
+	public BidirectionalMapProblem(Map map, String initialState, String goalState) {
+		this(map, initialState, goalState, new DefaultGoalTest(goalState));
+	}
+
+	public BidirectionalMapProblem(Map map, String initialState, String goalState, GoalTest goalTest) {
+		super(initialState, MapFunctionFactory.getActionsFunction(map), MapFunctionFactory.getResultFunction(),
+				goalTest, new MapStepCostFunction(map));
 
 		this.map = map;
 
-		reverseProblem = new Problem(goalState,
-				MapFunctionFactory.getReverseActionsFunction(map),
-				MapFunctionFactory.getResultFunction(), new DefaultGoalTest(
-						initialState), new MapStepCostFunction(map));
+		reverseProblem = new Problem(goalState, MapFunctionFactory.getReverseActionsFunction(map),
+				MapFunctionFactory.getResultFunction(), new DefaultGoalTest(initialState),
+				new MapStepCostFunction(map));
 	}
 
 	//

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

@@ -19,18 +19,16 @@
  * 
  */
 public class MapAgent extends SimpleProblemSolvingAgent {
-	private Map map = null;
-
-	private EnvironmentViewNotifier notifier = null;
-
-	private DynamicState state = new DynamicState();
 
+	protected Map map = null;
+	protected DynamicState state = new DynamicState();
+
+	private EnvironmentViewNotifier notifier = null;	
 	private Search search = null;
-
-	private String[] goalTests = null;
-
+	private String[] goals = null;
 	private int goalTestPos = 0;
 
+
 	public MapAgent(Map map, EnvironmentViewNotifier notifier, Search search) {
 		this.map = map;
 		this.notifier = notifier;
@@ -46,13 +44,13 @@ public MapAgent(Map map, EnvironmentViewNotifier notifier, Search search,
 	}
 
 	public MapAgent(Map map, EnvironmentViewNotifier notifier, Search search,
-			String[] goalTests) {
-		super(goalTests.length);
+			String[] goals) {
+		super(goals.length);
 		this.map = map;
 		this.notifier = notifier;
 		this.search = search;
-		this.goalTests = new String[goalTests.length];
-		System.arraycopy(goalTests, 0, this.goalTests, 0, goalTests.length);
+		this.goals = new String[goals.length];
+		System.arraycopy(goals, 0, this.goals, 0, goals.length);
 	}
 
 	//
@@ -71,10 +69,10 @@ protected State updateState(Percept p) {
 	@Override
 	protected Object formulateGoal() {
 		Object goal = null;
-		if (null == goalTests) {
+		if (null == goals) {
 			goal = map.randomlyGenerateDestination();
 		} else {
-			goal = goalTests[goalTestPos];
+			goal = goals[goalTestPos];
 			goalTestPos++;
 		}
 		notifier.notifyViews("CurrentLocation=In("

aima-core/src/main/java/aima/core/search/framework/SearchUtils.java

@@ -16,6 +16,17 @@
  */
 public class SearchUtils {
 
+	public static interface NodeListener {
+		void onNodeExpanded(Node node);
+	}
+
+	/**
+	 * All node listeners added to this list get informed whenever a node is
+	 * expanded. This is for demonstration and debugging purposes only. Handle
+	 * with care!
+	 */
+	public static List<NodeListener> nodeListeners = new ArrayList<NodeListener>();
+
 	/**
 	 * Returns the children obtained from expanding the specified node in the
 	 * specified problem.
@@ -31,6 +42,9 @@ public class SearchUtils {
 	public static List<Node> expandNode(Node node, Problem problem) {
 		List<Node> childNodes = new ArrayList<Node>();
 
+		for (NodeListener listener : nodeListeners)
+			listener.onNodeExpanded(node);
+
 		ActionsFunction actionsFunction = problem.getActionsFunction();
 		ResultFunction resultFunction = problem.getResultFunction();
 		StepCostFunction stepCostFunction = problem.getStepCostFunction();

aimax-osm/src/main/java/aimax/osm/applications/SearchDemoOsmAgentApp.java

@@ -6,11 +6,11 @@
 import aima.core.agent.Agent;
 import aima.core.environment.map.BidirectionalMapProblem;
 import aima.core.environment.map.MapAgent;
-import aima.core.environment.map.MapEnvironment;
 import aima.core.environment.map.MapFunctionFactory;
-import aima.core.search.framework.DefaultGoalTest;
+import aima.core.search.framework.Node;
 import aima.core.search.framework.Problem;
-import aima.core.search.framework.Search;
+import aima.core.search.framework.SearchUtils;
+import aima.core.search.framework.SearchUtils.NodeListener;
 import aima.core.search.online.LRTAStarAgent;
 import aima.core.search.online.OnlineSearchProblem;
 import aima.core.util.datastructure.Point2D;
@@ -90,6 +90,13 @@ private static class SDController extends OsmAgentController {
 		@Override
 		public void prepare(String changedSelector) {
 			visitedStates.clear();
+			SearchUtils.nodeListeners.clear();
+			SearchUtils.nodeListeners.add(new NodeListener() {
+				@Override
+				public void onNodeExpanded(Node node) {
+					visitedStates.add(node.getState());
+				}
+			});
 			super.prepare(changedSelector);
 		}
 
@@ -112,59 +119,29 @@ protected void initAgents(MessageLogger logger) {
 			MapAgentFrame.SelectionState state = frame.getSelection();
 			switch (state.getIndex(MapAgentFrame.AGENT_SEL)) {
 			case 0:
-				agent = new SDMapAgent(env, search, new String[] { locs[1] });
+				agent = new MapAgent(map, env, search, new String[] { locs[1] });
 				break;
 			case 1:
 				Problem p = new BidirectionalMapProblem(map, null, locs[1]);
-				OnlineSearchProblem osp = new OnlineSearchProblem(
-						p.getActionsFunction(), p.getGoalTest(),
+				OnlineSearchProblem osp = new OnlineSearchProblem(p.getActionsFunction(), p.getGoalTest(),
 						p.getStepCostFunction());
-				agent = new LRTAStarAgent(osp,
-						MapFunctionFactory.getPerceptToStateFunction(),
-						heuristic);
+				agent = new LRTAStarAgent(osp, MapFunctionFactory.getPerceptToStateFunction(), heuristic);
 				break;
 			}
 			env.addAgent(agent, locs[0]);
 		}
 	}
 
-	/** Variant of the <code>MapAgent</code>. */
-	private static class SDMapAgent extends MapAgent {
-		public SDMapAgent(MapEnvironment mapEnvironment, Search search,
-				String[] goalTests) {
-			super(mapEnvironment.getMap(), mapEnvironment, search, goalTests);
-		}
-
-		@Override
-		protected Problem formulateProblem(Object goal) {
-			BidirectionalMapProblem problem = (BidirectionalMapProblem) super
-					.formulateProblem(goal);
-			Problem result = new Problem(problem.getInitialState(),
-					problem.getActionsFunction(), problem.getResultFunction(),
-					new DefaultGoalTest((String) goal) {
-						@Override
-						public boolean isGoalState(Object state) {
-							visitedStates.add(state);
-							return super.isGoalState(state);
-						}
-					}, problem.getStepCostFunction());
-			return result;
-		}
-	}
-
 	/**
 	 * Variant of the <code>DefaultMapEntityRenderer</code> which highlights way
 	 * nodes mentioned in {@link SearchDemoOsmAgentApp#visitedStates}.
 	 */
 	private static class SDMapEntityRenderer extends DefaultEntityRenderer {
-		DefaultEntityViewInfo highlightProp = new MapStyleFactory()
-				.createPoiInfo(0, 0, 5, UColor.GREEN,
-						MapStyleFactory.createRectangle(4, UColor.GREEN),
-						false);
+		DefaultEntityViewInfo highlightProp = new MapStyleFactory().createPoiInfo(0, 0, 5, UColor.GREEN,
+				MapStyleFactory.createRectangle(4, UColor.GREEN), false);
 
 		@Override
-		public void printWay(MapWay way, DefaultEntityViewInfo eprop,
-				boolean asArea) {
+		public void printWay(MapWay way, DefaultEntityViewInfo eprop, boolean asArea) {
 			super.printWay(way, eprop, asArea);
 			if (scale >= highlightProp.minVisibleScale * displayFactor) {
 				for (MapNode node : getWayNodes(way))