jason-developers Mailing List for jason (Page 31)

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Revision: 1206
          http://jason.svn.sourceforge.net/jason/?rev=1206&view=rev
Author:   jomifred
Date:     2008-04-08 09:38:29 -0700 (Tue, 08 Apr 2008)

Log Message:
-----------
jason team: dummies can push cows!

Modified Paths:
--------------
    trunk/applications/jason-team/AC-Local-JasonTeam.mas2j
    trunk/applications/jason-team/src/asl/dummy.asl
    trunk/applications/jason-team/src/java/arch/ACProxy.java
    trunk/applications/jason-team/src/java/arch/CowboyArch.java
    trunk/applications/jason-team/src/java/arch/LocalWorldModel.java
    trunk/applications/jason-team/src/java/env/WorldModel.java
    trunk/applications/jason-team/src/java/jia/Search.java
    trunk/applications/jason-team/src/java/jia/direction.java
    trunk/src/jason/environment/grid/Location.java

Added Paths:
-----------
    trunk/applications/jason-team/src/java/jia/Vec.java
    trunk/applications/jason-team/src/java/jia/herd_position.java
    trunk/applications/jason-team/src/java/test/
    trunk/applications/jason-team/src/java/test/TestBasicHerding.java

Modified: trunk/applications/jason-team/AC-Local-JasonTeam.mas2j
===================================================================

--- trunk/applications/jason-team/AC-Local-JasonTeam.mas2j	2008-04-07 13:27:34 UTC (rev 1205)
+++ trunk/applications/jason-team/AC-Local-JasonTeam.mas2j	2008-04-08 16:38:29 UTC (rev 1206)
@@ -42,5 +42,5 @@
 		      agentClass     agent.SelectEvent 
 		      beliefBaseClass agent.UniqueBelsBB("gsize(_,_)","steps(_)","cell(_,_,key)","corral(_,_,_,_)","pratio(_)");
 
-    aslSourcePath: "src/asl";              
+    aslSourcePath: "src/asl";
 }

Modified: trunk/applications/jason-team/src/asl/dummy.asl
===================================================================
--- trunk/applications/jason-team/src/asl/dummy.asl	2008-04-07 13:27:34 UTC (rev 1205)
+++ trunk/applications/jason-team/src/asl/dummy.asl	2008-04-08 16:38:29 UTC (rev 1206)
@@ -33,13 +33,31 @@
 !move.
 
 
+/* -- reaction to cows -- */
+
++pos(_,_,_)                  // new cycle
+   : cell(_,_,cow(_))        // I see cows
+  <- jia.herd_position(X,Y); // compute new location
+     .print("COWS! going to ",X,",",Y);
+     -+target(X,Y).          // go to there
+     
+
+/* -- what todo when arrive at location */
+
++!decide_target                  // chose a new random pos
+   : not cell(_,_,cow(_))
+  <- ?random_pos(NX,NY);
+     -+target(NX,NY).
++!decide_target.
+
 /* -- plans to move to a destination represented in the belief target(X,Y) 
    -- (it is a kind of persistent goal)
 */
 
 // if the target is changed, "restart" move
-+target(_,_)
++target(NX,NY)
   <- .drop_desire(move);
+      jia.set_target(NX,NY);
      !!move.
 
 // I still do not know my location
@@ -55,9 +73,7 @@
       (not target(_,_) |  // I have no target OR
        target(X,Y)     |  // I am at target OR
        (target(BX,BY) & jia.direction(X, Y, BX, BY, skip))) // is impossible to go to target
-   <- ?random_pos(NX,NY);
-      jia.set_target(NX,NY);
-      -+target(NX,NY).
+   <- !decide_target.
    
 // does one step towards target  
 +!move 

Modified: trunk/applications/jason-team/src/java/arch/ACProxy.java
===================================================================
--- trunk/applications/jason-team/src/java/arch/ACProxy.java	2008-04-07 13:27:34 UTC (rev 1205)
+++ trunk/applications/jason-team/src/java/arch/ACProxy.java	2008-04-08 16:38:29 UTC (rev 1206)
@@ -160,7 +160,9 @@
     		lpos.addTerm(new NumberTermImpl(step));
 			percepts.add(lpos);
 
-			            int enemyId = 1;
+			arq.getModel().clearCowsList();
+			
+			int enemyId = 1;
 			// add in perception what is around
 			NodeList nl = perception.getElementsByTagName("cell");
 			for (int i=0; i < nl.getLength(); i++) {

Modified: trunk/applications/jason-team/src/java/arch/CowboyArch.java
===================================================================
--- trunk/applications/jason-team/src/java/arch/CowboyArch.java	2008-04-07 13:27:34 UTC (rev 1205)
+++ trunk/applications/jason-team/src/java/arch/CowboyArch.java	2008-04-08 16:38:29 UTC (rev 1206)
@@ -237,9 +237,8 @@
         return l;
     }
 
-	
     void cowPerceived(int x, int y) {
-    	model.add(WorldModel.COW, x, y);
+    	model.addCow(x,y);
     }
 
     void enemyPerceived(int x, int y) {

Modified: trunk/applications/jason-team/src/java/arch/LocalWorldModel.java
===================================================================
--- trunk/applications/jason-team/src/java/arch/LocalWorldModel.java	2008-04-07 13:27:34 UTC (rev 1205)
+++ trunk/applications/jason-team/src/java/arch/LocalWorldModel.java	2008-04-08 16:38:29 UTC (rev 1206)
@@ -2,6 +2,8 @@
 
 import jason.environment.grid.Location;
 
+import java.util.ArrayList;
+import java.util.List;
 import java.util.Random;
 
 import env.WorldModel;
@@ -19,6 +21,8 @@
     
     private Random			  random = new Random();
     
+    List<Location> cows = new ArrayList<Location>();
+    
     //private Logger            logger   = Logger.getLogger("jasonTeamSimLocal.mas2j." + LocalWorldModel.class.getName());
 
     public static LocalWorldModel create(int w, int h, int nbAg) {
@@ -40,6 +44,33 @@
         }
     }
 
+    public void clearCowsList() {
+        cows.clear();
+    }
+    public void addCow(int x, int y) {
+        add(WorldModel.COW, x, y);
+        cows.add(new Location(x,y));        
+    }
+    public void addCow(Location l) {
+        addCow(l.x, l.y);
+    }
+    public List<Location> getCows() {
+        return cows;
+    }
+
+    public Location nearFree(Location l) throws Exception {
+        int w = 1;
+        while (true) {
+            for (int x=l.x-w; x<=l.x+w;x++)
+                if (isFree(x,l.y))
+                    return new Location(x,l.y);
+            for (int y=l.y-w; y<=l.y+w;y++)
+                if (isFree(l.x,y))
+                    return new Location(l.x,y);
+            w++;
+        }
+    }
+    
     public int getVisited(Location l) {
     	return visited[l.x][l.y];
     }

Modified: trunk/applications/jason-team/src/java/env/WorldModel.java
===================================================================
--- trunk/applications/jason-team/src/java/env/WorldModel.java	2008-04-07 13:27:34 UTC (rev 1205)
+++ trunk/applications/jason-team/src/java/env/WorldModel.java	2008-04-08 16:38:29 UTC (rev 1206)
@@ -77,6 +77,10 @@
         return l.x >= corralUL.x && l.x <= corralDR.x &&
                l.y >= corralUL.y && l.y <= corralDR.y;
     }
+    
+    public Location getCorralCenter() {
+        return new Location( (corralUL.x + corralDR.x)/2, (corralUL.y + corralDR.y)/2);
+    }
 
     public int getCowsBlue() {
     	return cowsBlue;
@@ -228,4 +232,19 @@
     	
     	return s.toString();
     }
+
+    public static Location getNewLocationForAction(Location pos, WorldModel.Move action) {
+        switch (action) {
+        case west     : return new Location(pos.x-1,pos.y);
+        case east     : return new Location(pos.x+1,pos.y);
+        case north    : return new Location(pos.x,pos.y-1);
+        case northeast: return new Location(pos.x+1,pos.y-1);
+        case northwest: return new Location(pos.x-1,pos.y-1);
+        case south    : return new Location(pos.x,pos.y+1);
+        case southeast: return new Location(pos.x+1,pos.y+1);
+        case southwest: return new Location(pos.x-1,pos.y+1);
+        }
+        return null;
+    }
+
 }

Modified: trunk/applications/jason-team/src/java/jia/Search.java
===================================================================
--- trunk/applications/jason-team/src/java/jia/Search.java	2008-04-07 13:27:34 UTC (rev 1205)
+++ trunk/applications/jason-team/src/java/jia/Search.java	2008-04-08 16:38:29 UTC (rev 1206)
@@ -22,19 +22,32 @@
 	final LocalWorldModel model;
     final Location        from, to;
     final boolean         considerAgentsAsObstacles;
-    int[]                 actionsOrder;    
+    final boolean         considerCorralAsObstacles;
+    final boolean         considerCowsAsObstacles;
+    WorldModel.Move[]     actionsOrder;    
     int                   nbStates = 0;
     AgArch                agArch;
     
-    static final int[] defaultActions = { 1, 2, 3, 4, 5, 6, 7, 8 }; // initial order of actions
+    public static final WorldModel.Move[] defaultActions = {  // initial order of actions
+              WorldModel.Move.west,
+              WorldModel.Move.east,
+              WorldModel.Move.north,
+              WorldModel.Move.northeast,
+              WorldModel.Move.northwest,
+              WorldModel.Move.south,
+              WorldModel.Move.southeast,
+              WorldModel.Move.southwest
+    }; 
 
     Logger logger = Logger.getLogger(Search.class.getName());
     
-    Search(LocalWorldModel m, Location from, Location to, int[] actions, boolean considerAgentsAsObstacles, AgArch agArch) {
+    public Search(LocalWorldModel m, Location from, Location to, WorldModel.Move[] actions, boolean considerAgentsAsObstacles, boolean considerCorralAsObstacles, boolean considerCowsAsObstacles, AgArch agArch) {
     	this.model = m;
     	this.from  = from;
     	this.to    = to;
     	this.considerAgentsAsObstacles = considerAgentsAsObstacles;
+        this.considerCorralAsObstacles = considerCorralAsObstacles;
+        this.considerCowsAsObstacles   = considerCowsAsObstacles;
     	this.agArch = agArch;
     	if (actions != null) {
     		this.actionsOrder = actions;
@@ -45,14 +58,14 @@
 
     /** used normally to discover the distance from 'from' to 'to' */
     Search(LocalWorldModel m, Location from, Location to, AgArch agArch) {
-    	this(m,from,to,null,false, agArch);
+    	this(m,from,to,null,false, false, false, agArch);
     }
     
     public Nodo search() throws Exception { 
     	Busca searchAlg = new AEstrela();
     	//searchAlg.ssetMaxAbertos(1000);
-    	GridState root = new GridState(from, WorldModel.Move.skip, this);
-    	root.setIsRoot();
+    	GridState root = new GridState(from, WorldModel.Move.skip, this, 1);
+    	root.setAsRoot();
         return searchAlg.busca(root);
     }
     
@@ -113,22 +126,24 @@
     final Search          ia;
     final int             hashCode;
     boolean               isRoot = false;
+    int                   cost = 1;
     
-    public GridState(Location l, WorldModel.Move op, Search ia) {
-        this.pos = l;
-        this.op  = op;
-        this.ia  = ia;
-        hashCode = pos.hashCode();
+    public GridState(Location l, WorldModel.Move op, Search ia, int cost) {
+        this.pos  = l;
+        this.op   = op;
+        this.ia   = ia;
+        this.cost = cost;
+        hashCode  = pos.hashCode();
         
         ia.nbStates++;
     }
     
-    public void setIsRoot() {
+    public void setAsRoot() {
     	isRoot = true;
     }
     
     public int custo() {
-        return 1;
+        return cost;
     }
 
     public boolean ehMeta() {
@@ -140,7 +155,7 @@
     }
 
     public int h() {
-        return pos.distance(ia.to);
+        return pos.maxBorder(ia.to);
     }
     
     public List<Estado> sucessores() {
@@ -148,22 +163,13 @@
         if (ia.nbStates > 50000) {
         	ia.logger.info("*** It seems I am in a loop!");
         	return s; 
-        } else if (!ia.agArch.isRunning()) {
+        } else if (ia.agArch != null && !ia.agArch.isRunning()) {
             return s;
         }
                 
         // all directions
         for (int a = 0; a < ia.actionsOrder.length; a++) {
-        	switch (ia.actionsOrder[a]) {
-        	case 1: suc(s,new Location(pos.x-1,pos.y), WorldModel.Move.west); break;
-        	case 2: suc(s,new Location(pos.x+1,pos.y), WorldModel.Move.east); break;
-        	case 3: suc(s,new Location(pos.x,pos.y-1), WorldModel.Move.north); break;
-            case 4: suc(s,new Location(pos.x+1,pos.y-1), WorldModel.Move.northeast); break;
-            case 5: suc(s,new Location(pos.x-1,pos.y-1), WorldModel.Move.northwest); break;
-        	case 6: suc(s,new Location(pos.x,pos.y+1), WorldModel.Move.south); break;
-            case 7: suc(s,new Location(pos.x+1,pos.y+1), WorldModel.Move.southeast); break;
-            case 8: suc(s,new Location(pos.x-1,pos.y+1), WorldModel.Move.southwest); break;
-        	}
+            suc(s, WorldModel.getNewLocationForAction(pos, ia.actionsOrder[a]), ia.actionsOrder[a]);
         }
         
         // if it is root state, sort the option by least visited
@@ -172,18 +178,51 @@
         }
         return s;
     }
-    
+
     private void suc(List<Estado> s, Location newl, WorldModel.Move op) {
 
-        if (ia.model.isFreeOfObstacle(newl) && !ia.model.hasObject(WorldModel.CORRAL, newl)) {
-        	if (ia.considerAgentsAsObstacles) {
-        		if ((ia.model.isFree(WorldModel.AGENT,newl) && ia.model.isFree(WorldModel.COW,newl)) || ia.from.distance(newl) > 3) {
-        			s.add(new GridState(newl,op,ia));
-        		}
-        	} else {
-                s.add(new GridState(newl,op,ia));
+        if (!ia.model.inGrid(newl))
+            return;
+        if (ia.model.hasObject(WorldModel.OBSTACLE, newl)) 
+            return;
+        if (ia.considerCorralAsObstacles && ia.model.hasObject(WorldModel.CORRAL, newl)) 
+            return;
+        if (ia.considerAgentsAsObstacles && ia.model.hasObject(WorldModel.AGENT,newl) && ia.from.maxBorder(newl) <= 2) 
+            return;
+        if (ia.considerCowsAsObstacles   && ia.model.hasObject(WorldModel.COW,newl)   && ia.from.maxBorder(newl) <= 2) 
+            return;
+
+        int cost = 1;
+        
+        if (ia.considerCowsAsObstacles) { 
+            cost += countCowsBeside(newl,1);
+            cost += countCowsBeside(newl,2);
+        }
+
+        s.add(new GridState(newl,op,ia, cost));
+    }
+    
+    private int countCowsBeside(Location l, int d) {
+        int c = 0;
+        for (int x = l.x-d; x <= l.x+d; x++) {
+            for (int y = l.y-d; y <= l.y+d; y++) {
+                if (ia.model.hasObject(WorldModel.COW, x, y)) {
+                    c++;
+                }
             }
-    	}
+        }
+        return c;
+        /*
+        if (ia.model.hasObject(WorldModel.COW, l.x, l.y)) c++;
+        if (ia.model.hasObject(WorldModel.COW, l.x+1, l.y)) c++;
+        if (ia.model.hasObject(WorldModel.COW, l.x-1, l.y)) c++;
+        if (ia.model.hasObject(WorldModel.COW, l.x, l.y+1)) c++;
+        if (ia.model.hasObject(WorldModel.COW, l.x, l.y-1)) c++;
+        if (ia.model.hasObject(WorldModel.COW, l.x+1, l.y+1)) c++;
+        if (ia.model.hasObject(WorldModel.COW, l.x-1, l.y+1)) c++;
+        if (ia.model.hasObject(WorldModel.COW, l.x+1, l.y-1)) c++;
+        if (ia.model.hasObject(WorldModel.COW, l.x-1, l.y-1)) c++;
+        */
     }
     
     public boolean equals(Object o) {

Added: trunk/applications/jason-team/src/java/jia/Vec.java
===================================================================
--- trunk/applications/jason-team/src/java/jia/Vec.java	                        (rev 0)
+++ trunk/applications/jason-team/src/java/jia/Vec.java	2008-04-08 16:38:29 UTC (rev 1206)
@@ -0,0 +1,101 @@
+package jia;
+
+import jason.environment.grid.Location;
+
+import java.util.List;
+
+import arch.LocalWorldModel;
+
+
+public class Vec {
+    
+    public final int x,y;
+    
+    public Vec(int x, int y) {
+        this.x = x;
+        this.y = y;
+    }
+
+    /** create a vector based on a location in the model */
+    public Vec(LocalWorldModel model, Location l) {
+        this.x = l.x;
+        this.y = model.getHeight()-l.y-1;
+    }
+    
+    public int getX() { return x; }
+    public int getY() { return y; }
+    public Location getLocation(LocalWorldModel model) { 
+        return new Location(x, model.getHeight()-y-1); 
+    }
+    
+    public double magnitude() {
+        return Math.sqrt(x*x + y*y);
+    }
+    
+    public Vec add(Vec v) {
+        return new Vec(x + v.x, y + v.y);
+    }
+    public Vec sub(Vec v) {
+        return new Vec(x - v.x, y - v.y);
+    }
+    public Vec product(double e) {
+        return new Vec((int)(x * e), (int)(y *e));
+    }
+    
+    @Override
+    public boolean equals(Object o) {
+        if (o == null) return false;
+        if (o == this) return true;
+        if (o instanceof Vec) {
+            Vec v = (Vec)o;
+            return (x == v.x) && (y == v.y);
+        }
+        return false;
+    }
+
+    public static Vec max(List<Vec> vs) {
+        Vec max = null;
+        if (vs.size() >  0)
+            max = vs.get(0);
+        for (Vec v: vs) {
+            if (max.magnitude() < v.magnitude())
+                max = v;
+        }
+        return max;
+    }
+
+    public static Vec mean(List<Vec> vs) {
+        if (vs.isEmpty())
+            return new Vec(0,0);
+        int x = 0, y = 0;
+        for (Vec v: vs) {
+            x += v.x;
+            y += v.y;
+        }
+        return new Vec(x/vs.size(), y/vs.size());  
+    }
+    
+    
+    
+
+    public static Vec stddev(List<Vec> vs) {
+        if (vs.isEmpty())
+            return new Vec(0,0);
+        Vec mean = mean(vs);
+        int x = 0, y = 0;
+        for (Vec v: vs) {
+            x += Math.pow(v.x - mean.x,2);
+            y += Math.pow(v.y - mean.y,2);
+        }
+        x = x / vs.size();
+        y = y / vs.size();
+        
+        return new Vec( (int)Math.sqrt(x), (int)Math.sqrt(y));
+    }
+
+    
+    @Override
+    public String toString() {
+        return x + "," + y;
+    }
+}

Modified: trunk/applications/jason-team/src/java/jia/direction.java
===================================================================
--- trunk/applications/jason-team/src/java/jia/direction.java	2008-04-07 13:27:34 UTC (rev 1205)
+++ trunk/applications/jason-team/src/java/jia/direction.java	2008-04-08 16:38:29 UTC (rev 1206)
@@ -11,9 +11,10 @@
 import java.util.Random;
 import java.util.logging.Level;
 
+import busca.Nodo;
+
 import arch.CowboyArch;
 import arch.LocalWorldModel;
-import busca.Nodo;
 import env.WorldModel;
 
 /** 
@@ -24,9 +25,15 @@
  */
 public class direction extends DefaultInternalAction {
     
-    int[]      actionsOrder = { 1, 2, 3, 4, 5, 6, 7, 8}; // initial order of actions
+    WorldModel.Move[] actionsOrder = new WorldModel.Move[WorldModel.nbActions];
     Random     random = new Random();
     
+    public direction() {
+        for (int i=0; i<WorldModel.nbActions; i++) {
+            actionsOrder[i] = Search.defaultActions[i];
+        }
+    }
+    
     @Override
     public Object execute(TransitionSystem ts, Unifier un, Term[] terms) throws Exception {
         try {
@@ -50,11 +57,11 @@
                 // randomly change the place of two actions in actionsOrder
                 int i1 = random.nextInt(WorldModel.nbActions);
                 int i2 = random.nextInt(WorldModel.nbActions);
-                int temp = actionsOrder[i2];
+                WorldModel.Move temp = actionsOrder[i2];
                 actionsOrder[i2] = actionsOrder[i1];
                 actionsOrder[i1] = temp;
                 
-                Search astar    = new Search(model, from, to, actionsOrder, true, ts.getUserAgArch());
+                Search astar    = new Search(model, from, to, actionsOrder, true, true, true, ts.getUserAgArch());
                 Nodo   solution = astar.search();
                 if (solution != null) {
                 	WorldModel.Move m = astar.firstAction(solution);

Added: trunk/applications/jason-team/src/java/jia/herd_position.java
===================================================================
--- trunk/applications/jason-team/src/java/jia/herd_position.java	                        (rev 0)
+++ trunk/applications/jason-team/src/java/jia/herd_position.java	2008-04-08 16:38:29 UTC (rev 1206)
@@ -0,0 +1,67 @@
+package jia;
+
+import jason.asSemantics.DefaultInternalAction;
+import jason.asSemantics.TransitionSystem;
+import jason.asSemantics.Unifier;
+import jason.asSyntax.NumberTermImpl;
+import jason.asSyntax.Term;
+import jason.environment.grid.Location;
+
+import java.util.ArrayList;
+import java.util.List;
+import java.util.logging.Level;
+
+import arch.CowboyArch;
+import arch.LocalWorldModel;
+import env.WorldModel;
+
+/** 
+ * Gives a good location to herd cows
+ *  
+ * @author jomi
+ */
+public class herd_position extends DefaultInternalAction {
+    
+    public static final double maxStdDev = 3;
+    
+    @Override
+    public Object execute(TransitionSystem ts, Unifier un, Term[] terms) throws Exception {
+        try {
+            
+            LocalWorldModel model = ((CowboyArch)ts.getUserAgArch()).getModel();
+            
+            Location agTarget = model.nearFree(getAgTarget(model));
+            return un.unifies(terms[0], new NumberTermImpl(agTarget.x)) && 
+                   un.unifies(terms[1], new NumberTermImpl(agTarget.y));
+        } catch (Throwable e) {
+            ts.getLogger().log(Level.SEVERE, "herd_position error: "+e, e);    		
+        }
+        return false;
+    }
+    
+    public Location getAgTarget(LocalWorldModel model) throws Exception {
+        List<Vec> cowsTarget = new ArrayList<Vec>();
+        for (Location c: model.getCows()) {
+            Search s = new Search(model, c, model.getCorralCenter(), null, false, false, false, null);
+            Location cowTarget = WorldModel.getNewLocationForAction(c, s.firstAction(s.search()));
+            cowsTarget.add(new Vec(model, cowTarget));
+        }
+        
+        Vec stddev = Vec.stddev(cowsTarget);
+        
+        // remove max if stddev is too big
+        while (stddev.magnitude() > maxStdDev) {
+            cowsTarget.remove(Vec.max(cowsTarget));
+            stddev = Vec.stddev(cowsTarget);
+        }
+        
+        Vec mean = Vec.mean(cowsTarget);
+        if (mean.magnitude() > 0) {
+            double incvalue = (Vec.max(cowsTarget).sub(mean).magnitude()+2) / mean.magnitude();
+            return mean.product(incvalue+1).getLocation(model);
+        } else {
+            return null;
+        }
+    }
+}
+

Added: trunk/applications/jason-team/src/java/test/TestBasicHerding.java
===================================================================
--- trunk/applications/jason-team/src/java/test/TestBasicHerding.java	                        (rev 0)
+++ trunk/applications/jason-team/src/java/test/TestBasicHerding.java	2008-04-08 16:38:29 UTC (rev 1206)
@@ -0,0 +1,124 @@
+package test;
+
+import static org.junit.Assert.assertEquals;
+import static org.junit.Assert.assertTrue;
+import jason.environment.grid.Location;
+
+import java.util.ArrayList;
+import java.util.List;
+
+import jia.Search;
+import jia.Vec;
+import jia.herd_position;
+
+import org.junit.Before;
+import org.junit.Test;
+
+import arch.LocalWorldModel;
+import busca.Nodo;
+import env.WorldModel;
+
+public class TestBasicHerding {
+
+    Vec cow;
+    Vec[] cows;
+    Vec cowboy;
+    LocalWorldModel model;
+    
+    @Before
+    public void scenario() {
+        model = new LocalWorldModel(50,50);
+        model.setCorral(new Location(0,49), new Location(2,49));
+        
+        cow   = new Vec(6,7);
+        cowboy = new Vec(3,5);
+        
+        cows = new Vec[4];
+        cows[0] = cow;
+        cows[1] = new Vec(5,30);
+        cows[2] = new Vec(4,8);
+        cows[3] = new Vec(5,10);
+
+        for (int i=0; i<cows.length; i++)
+            model.addCow(cows[i].getLocation(model));
+
+    }
+    
+    @Test
+    public void testVect() {
+        //assertEquals(new Vec(6,7), cow.add(cowboy));
+        //assertEquals(new Location(6,42), cow.add(cowboy).getLocation(model));
+        assertEquals(new Location(3,44), cowboy.getLocation(model));
+        assertEquals(new Location(1,49), model.getCorralCenter());
+        assertEquals(new Vec(3,2), cow.sub(cowboy)); //new Vec(model, cowboy.getLocation(model), cow.add(cowboy).getLocation(model)));
+    }
+
+    /*
+    @Test
+    public void oneCow() throws Exception {
+        // get the location the cow should go
+        Location cowLocation = cow.getLocation(model);
+
+        // search cow desired location
+        Search s = new Search(model, cowLocation, model.getCorralCenter(), null, false, false, false, null);
+        Nodo path = s.search();
+        assertEquals(8, path.g()); //firstAction(path));
+        
+        // cow target in direction to corral
+        Location cowTarget = WorldModel.getNewLocationForAction(cowLocation, s.firstAction(path));
+        //assertEquals(new Location(5,43), cowTarget);
+        Vec cowVecTarget = new Vec(model, cowTarget);
+        //assertEquals(new Vec(5,6), cowVecTarget);
+        
+        // agent target to push cow into corral
+        Vec agVecTarget = cow.sub(cowVecTarget).product(2).add(cow);
+        Location agTarget = agVecTarget.getLocation(model);
+        //assertEquals(new Location(8,40), agTarget);
+        
+        s = new Search(model, cowboy.getLocation(model), agTarget, null, true, true, true, null);
+        path = s.search();
+        System.out.println(path.g() + " " + path.montaCaminho());
+        assertEquals(12, path.g());
+    }
+    */
+
+    
+    @Test
+    public void moreCows() throws Exception {
+        // get the location the cows should go
+        List<Vec> cowsTarget = new ArrayList<Vec>(); 
+        for (int i=0; i<cows.length; i++) {
+            Search s = new Search(model, cows[i].getLocation(model), model.getCorralCenter(), null, false, false, false, null);
+            Location cowTarget = WorldModel.getNewLocationForAction(cows[i].getLocation(model), s.firstAction(s.search()));
+            cowsTarget.add(new Vec(model, cowTarget));
+        }
+        //System.out.println(cowsTarget);
+        
+        Vec stddev = Vec.stddev(cowsTarget);
+        assertEquals(new Vec(0,9), stddev);
+        
+        // remove max if stddev is too big
+        while (stddev.magnitude() > 3) {
+            cowsTarget.remove(Vec.max(cowsTarget));
+            stddev = Vec.stddev(cowsTarget);
+        }
+        assertTrue(stddev.magnitude() < 3);
+        
+        Vec mean   = Vec.mean(cowsTarget);
+        assertEquals(new Vec(5,7), mean);
+        double incvalue = (Vec.max(cowsTarget).sub(mean).magnitude()+2) / mean.magnitude();
+        //System.out.println( incvalue);
+        Vec agTarget = mean.product(incvalue+1);
+        //System.out.println(agTarget);
+        assertEquals(new Vec(7,10), agTarget);
+
+        Location byIA =  new herd_position().getAgTarget(model);
+        assertEquals(byIA, agTarget.getLocation(model));
+        
+        Search s = new Search(model, cowboy.getLocation(model), agTarget.getLocation(model), null, true, true, true, null);
+        Nodo path = s.search();
+        //System.out.println(path.g() + " " + path.montaCaminho());
+        assertEquals(14, path.g());
+        
+    }
+}

Modified: trunk/src/jason/environment/grid/Location.java
===================================================================
--- trunk/src/jason/environment/grid/Location.java	2008-04-07 13:27:34 UTC (rev 1205)
+++ trunk/src/jason/environment/grid/Location.java	2008-04-08 16:38:29 UTC (rev 1206)
@@ -1,7 +1,7 @@
 package jason.environment.grid;
 
 public final class Location {
-    public int x, y;
+    public final int x, y;
     
     public Location(int x, int y) {
         this.x = x;
@@ -13,6 +13,16 @@
         return Math.abs(x - l.x) + Math.abs(y - l.y);
     }
 
+    /** calculates the Euclidean distance between two points */
+    public double distanceEuclidean(Location l) {
+        return Math.sqrt(Math.pow(x - l.x, 2) + Math.pow(y - l.y, 2));
+    }
+
+    /** returns Math.max( Math.abs(this.x - l.x) , Math.abs(this.y - l.y)) */
+    public int maxBorder(Location l) {
+        return Math.max( Math.abs(this.x - l.x) , Math.abs(this.y - l.y));
+    }
+
     public  boolean isNeigbour(Location l) {
         return 
             distance(l) == 1 ||


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