[Jason-developers] SF.net SVN: jason: [1316] trunk/applications/jason-team/src

[<jom...@us...>]

Revision: 1316
          http://jason.svn.sourceforge.net/jason/?rev=1316&view=rev
Author:   jomifred
Date:     2008-05-29 04:49:16 -0700 (Thu, 29 May 2008)

Log Message:
-----------
jason team: fix restart

Modified Paths:
--------------
    trunk/applications/jason-team/src/asl/exploration.asl
    trunk/applications/jason-team/src/asl/herding.asl
    trunk/applications/jason-team/src/java/jia/cluster.java

Modified: trunk/applications/jason-team/src/asl/exploration.asl
===================================================================
--- trunk/applications/jason-team/src/asl/exploration.asl	2008-05-29 07:05:19 UTC (rev 1315)
+++ trunk/applications/jason-team/src/asl/exploration.asl	2008-05-29 11:49:16 UTC (rev 1316)
@@ -171,7 +171,7 @@
   <- .send(L,askAll,play(_, herdboy, _), LBoys);
      .send(L,askOne,current_cluster(_),current_cluster(LCluster));
      //.print("xxx boys of ",L," are ",LBoys," his cluster size is ", .length(LCluster));
-     if (.length(LBoys) < 2 & .length(LCluster) > 10) {
+     if (.length(LBoys) < 2 & .length(LCluster) > (.length(LBoys)+1)*5) {
         !!create_herding_gr
      }{
         !check_small_herd_grp(Leaders)

Modified: trunk/applications/jason-team/src/asl/herding.asl
===================================================================
--- trunk/applications/jason-team/src/asl/herding.asl	2008-05-29 07:05:19 UTC (rev 1315)
+++ trunk/applications/jason-team/src/asl/herding.asl	2008-05-29 11:49:16 UTC (rev 1316)
@@ -65,7 +65,7 @@
 +!check_merge
     : .my_name(Me) &
 	  play(Me, herder, Gi) &
-      .count(play(_,_,Gi), N) & N < 3 & // only merge small group
+      //.count(play(_,_,Gi), N) & N < 3 & // only merge small group
 	  current_cluster(MyC)
   <-  // for all other groups
       for( group_leader(Gj, L) & Me < L & L \== Me & not play(L,herdboy,Gi)) { // 

Modified: trunk/applications/jason-team/src/java/jia/cluster.java
===================================================================
--- trunk/applications/jason-team/src/java/jia/cluster.java	2008-05-29 07:05:19 UTC (rev 1315)
+++ trunk/applications/jason-team/src/java/jia/cluster.java	2008-05-29 11:49:16 UTC (rev 1316)
@@ -13,6 +13,7 @@
 
 import java.util.ArrayList;
 import java.util.Collection;
+import java.util.Collections;
 import java.util.Iterator;
 import java.util.List;
 import java.util.logging.Level;
@@ -20,7 +21,6 @@
 import arch.CowboyArch;
 import arch.LocalWorldModel;
 import busca.Nodo;
-import env.WorldModel;
 
 /** 
  * Computes a cluster of cows for the agent
@@ -39,7 +39,7 @@
             if (model == null)
             	return false;
 
-        	List<Location> locs = getCluster(model, WorldModel.cowPerceptionRatio, arch);
+        	List<Location> locs = getCluster(model, 3, arch); //WorldModel.cowPerceptionRatio
         	
         	if (args.length == 1) {
                 return un.unifies(args[0], new ObjectTermImpl(locs));        	    
@@ -60,7 +60,7 @@
         return false;
     }
     
-    public static List<Location> getCluster(LocalWorldModel model, int maxDist, CowboyArch arch) throws Exception {
+    public static List<Location> getClusterTest1(LocalWorldModel model, int maxDist, CowboyArch arch) throws Exception {
     	/*
 			Vs = set of all seen cows
 			Cs  = { the cow near to the corral }
@@ -96,8 +96,53 @@
             cows.remove(near);
         }
         
-        /* OLD strategy
-    	Vec mean = Vec.mean( cows );
+    	boolean add = true;
+    	while (add) {
+    		add = false;
+    		Iterator<Vec> i = cows.iterator();
+    		while (i.hasNext()) {
+        		Vec v = i.next();
+        		
+        		Iterator<Vec> j = cs.iterator();
+        		while (j.hasNext() && cs.size() < MAXCLUSTERSIZE) {
+            		Vec c = j.next();
+        			if (c.sub(v).magnitude() < maxDist) {
+        				cs.add(v);
+        				i.remove();
+        				add = true;
+        				break;
+        			}
+        		}
+    		}
+    		
+    		// do not get too big clusters
+    		if (cs.size() > MAXCLUSTERSIZE)
+    			break;
+    	}
+        List<Location> clusterLocs = new ArrayList<Location>();
+        for (Vec v: cs) {
+            // place all cows in ref to 0,0
+            clusterLocs.add(v.getLocation(model));
+        }
+        return clusterLocs;
+    }
+    
+    public static List<Location> getCluster(LocalWorldModel model, int maxDist, CowboyArch arch) throws Exception {
+    	/*
+		Vs = set of all seen cows (sorted by distance to the centre of cluster)
+		Cs  = { the cow near to the center of Vs }
+
+		add = true
+		while (add)
+				add = false
+				for all v in Vs
+				if (some cow in Cs sees v)
+  					move v from Vs to Cs
+  					add = true
+    	*/
+        Collection<Vec> cows = model.getCows();
+        List<Vec> cs = new ArrayList<Vec>();
+        Vec mean = Vec.mean( cows );
     	List<Vec> vs = new ArrayList<Vec>();
     	// place all cows in ref to mean
     	for (Vec v: cows)
@@ -108,13 +153,12 @@
         
         if (!vs.isEmpty()) 
             cs.add(vs.remove(0));
-        */
         
     	
     	boolean add = true;
     	while (add) {
     		add = false;
-    		Iterator<Vec> i = cows.iterator(); //vs.iterator();
+    		Iterator<Vec> i = vs.iterator();
     		while (i.hasNext()) {
         		Vec v = i.next();
         		
@@ -137,12 +181,11 @@
         List<Location> clusterLocs = new ArrayList<Location>();
         for (Vec v: cs) {
             // place all cows in ref to 0,0
-            clusterLocs.add(v.getLocation(model));
-            //clusterLocs.add(v.add(mean).getLocation(model));
+        	clusterLocs.add(v.add(mean).getLocation(model));
         }
         return clusterLocs;
     }
-    
+
     public static List<Vec> location2vec(LocalWorldModel model, List<Location> clusterLocs) {
         List<Vec> cows = new ArrayList<Vec>();
         for (Location l: clusterLocs) 
@@ -150,4 +193,3 @@
         return cows;
     }
 }
-


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