Artificial-Intelligence-Nanodegree/Term-I – AI Foundations/03 - Cargo Planning/aimacode/search.py

"""Search (Chapters 3-4)

The way to use this code is to subclass Problem to create a class of problems,
then create problem instances and solve them with calls to the various search
functions."""

from .utils import (
    is_in, memoize, print_table, Stack, FIFOQueue, PriorityQueue, name
)

import sys

infinity = float('inf')

# ______________________________________________________________________________


class Problem:

    """The abstract class for a formal problem.  You should subclass
    this and implement the methods actions and result, and possibly
    __init__, goal_test, and path_cost. Then you will create instances
    of your subclass and solve them with the various search functions."""

    def __init__(self, initial, goal=None):
        """The constructor specifies the initial state, and possibly a goal
        state, if there is a unique goal.  Your subclass's constructor can add
        other arguments."""
        self.initial = initial
        self.goal = goal

    def actions(self, state):
        """Return the actions that can be executed in the given
        state. The result would typically be a list, but if there are
        many actions, consider yielding them one at a time in an
        iterator, rather than building them all at once."""
        raise NotImplementedError

    def result(self, state, action):
        """Return the state that results from executing the given
        action in the given state. The action must be one of
        self.actions(state)."""
        raise NotImplementedError

    def goal_test(self, state):
        """Return True if the state is a goal. The default method compares the
        state to self.goal or checks for state in self.goal if it is a
        list, as specified in the constructor. Override this method if
        checking against a single self.goal is not enough."""
        if isinstance(self.goal, list):
            return is_in(state, self.goal)
        else:
            return state == self.goal

    def path_cost(self, c, state1, action, state2):
        """Return the cost of a solution path that arrives at state2 from
        state1 via action, assuming cost c to get up to state1. If the problem
        is such that the path doesn't matter, this function will only look at
        state2.  If the path does matter, it will consider c and maybe state1
        and action. The default method costs 1 for every step in the path."""
        return c + 1

    def value(self, state):
        """For optimization problems, each state has a value.  Hill-climbing
        and related algorithms try to maximize this value."""
        raise NotImplementedError
# ______________________________________________________________________________


class Node:

    """A node in a search tree. Contains a pointer to the parent (the node
    that this is a successor of) and to the actual state for this node. Note
    that if a state is arrived at by two paths, then there are two nodes with
    the same state.  Also includes the action that got us to this state, and
    the total path_cost (also known as g) to reach the node.  Other functions
    may add an f and h value; see best_first_graph_search and astar_search for
    an explanation of how the f and h values are handled. You will not need to
    subclass this class."""

    def __init__(self, state, parent=None, action=None, path_cost=0):
        "Create a search tree Node, derived from a parent by an action."
        self.state = state
        self.parent = parent
        self.action = action
        self.path_cost = path_cost
        self.depth = 0
        if parent:
            self.depth = parent.depth + 1

    def __repr__(self):
        return "<Node %s>" % (self.state,)

    def __lt__(self, node):
        return self.state < node.state

    def expand(self, problem):
        "List the nodes reachable in one step from this node."
        return [self.child_node(problem, action)
                for action in problem.actions(self.state)]

    def child_node(self, problem, action):
        "[Figure 3.10]"
        next = problem.result(self.state, action)
        return Node(next, self, action,
                    problem.path_cost(self.path_cost, self.state,
                                      action, next))

    def solution(self):
        "Return the sequence of actions to go from the root to this node."
        return [node.action for node in self.path()[1:]]

    def path(self):
        "Return a list of nodes forming the path from the root to this node."
        node, path_back = self, []
        while node:
            path_back.append(node)
            node = node.parent
        return list(reversed(path_back))

    # We want for a queue of nodes in breadth_first_search or
    # astar_search to have no duplicated states, so we treat nodes
    # with the same state as equal. [Problem: this may not be what you
    # want in other contexts.]

    def __eq__(self, other):
        return isinstance(other, Node) and self.state == other.state

    def __hash__(self):
        return hash(self.state)

# ______________________________________________________________________________
# Uninformed Search algorithms


def tree_search(problem, frontier):
    """Search through the successors of a problem to find a goal.
    The argument frontier should be an empty queue.
    Don't worry about repeated paths to a state. [Figure 3.7]"""
    frontier.append(Node(problem.initial))
    while frontier:
        node = frontier.pop()
        if problem.goal_test(node.state):
            return node
        frontier.extend(node.expand(problem))
    return None


def graph_search(problem, frontier):
    """Search through the successors of a problem to find a goal.
    The argument frontier should be an empty queue.
    If two paths reach a state, only use the first one. [Figure 3.7]"""
    frontier.append(Node(problem.initial))
    explored = set()
    while frontier:
        node = frontier.pop()
        if problem.goal_test(node.state):
            return node
        explored.add(node.state)
        frontier.extend(child for child in node.expand(problem)
                        if child.state not in explored and
                        child not in frontier)
    return None


def breadth_first_tree_search(problem):
    "Search the shallowest nodes in the search tree first."
    return tree_search(problem, FIFOQueue())


def depth_first_tree_search(problem):
    "Search the deepest nodes in the search tree first."
    return tree_search(problem, Stack())


def depth_first_graph_search(problem):
    "Search the deepest nodes in the search tree first."
    return graph_search(problem, Stack())


def breadth_first_search(problem):
    "[Figure 3.11]"
    node = Node(problem.initial)
    if problem.goal_test(node.state):
        return node
    frontier = FIFOQueue()
    frontier.append(node)
    explored = set()
    while frontier:
        node = frontier.pop()
        explored.add(node.state)
        for child in node.expand(problem):
            if child.state not in explored and child not in frontier:
                if problem.goal_test(child.state):
                    return child
                frontier.append(child)
    return None


def best_first_graph_search(problem, f):
    """Search the nodes with the lowest f scores first.
    You specify the function f(node) that you want to minimize; for example,
    if f is a heuristic estimate to the goal, then we have greedy best
    first search; if f is node.depth then we have breadth-first search.
    There is a subtlety: the line "f = memoize(f, 'f')" means that the f
    values will be cached on the nodes as they are computed. So after doing
    a best first search you can examine the f values of the path returned."""
    f = memoize(f, 'f')
    node = Node(problem.initial)
    if problem.goal_test(node.state):
        return node
    frontier = PriorityQueue(min, f)
    frontier.append(node)
    explored = set()
    while frontier:
        node = frontier.pop()
        if problem.goal_test(node.state):
            return node
        explored.add(node.state)
        for child in node.expand(problem):
            if child.state not in explored and child not in frontier:
                frontier.append(child)
            elif child in frontier:
                incumbent = frontier[child]
                if f(child) < f(incumbent):
                    # del frontier[incumbent]
                    frontier.append(child)
    return None


def uniform_cost_search(problem):
    "[Figure 3.14]"
    return best_first_graph_search(problem, lambda node: node.path_cost)


def depth_limited_search(problem, limit=50):
    "[Figure 3.17]"
    def recursive_dls(node, problem, limit):
        if problem.goal_test(node.state):
            return node
        elif limit == 0:
            return 'cutoff'
        else:
            cutoff_occurred = False
            for child in node.expand(problem):
                result = recursive_dls(child, problem, limit - 1)
                if result == 'cutoff':
                    cutoff_occurred = True
                elif result is not None:
                    return result
            return 'cutoff' if cutoff_occurred else None

    # Body of depth_limited_search:
    return recursive_dls(Node(problem.initial), problem, limit)


def iterative_deepening_search(problem):
    "[Figure 3.18]"
    for depth in range(sys.maxsize):
        result = depth_limited_search(problem, depth)
        if result != 'cutoff':
            return result

# ______________________________________________________________________________
# Informed (Heuristic) Search

greedy_best_first_graph_search = best_first_graph_search
# Greedy best-first search is accomplished by specifying f(n) = h(n).


def astar_search(problem, h=None):
    """A* search is best-first graph search with f(n) = g(n)+h(n).
    You need to specify the h function when you call astar_search, or
    else in your Problem subclass."""
    h = memoize(h or problem.h, 'h')
    return best_first_graph_search(problem, lambda n: n.path_cost + h(n))

# ______________________________________________________________________________
# Other search algorithms


def recursive_best_first_search(problem, h=None):
    "[Figure 3.26]"
    h = memoize(h or problem.h, 'h')

    def RBFS(problem, node, flimit):
        if problem.goal_test(node.state):
            return node, 0   # (The second value is immaterial)
        successors = node.expand(problem)
        if len(successors) == 0:
            return None, infinity
        for s in successors:
            s.f = max(s.path_cost + h(s), node.f)
        while True:
            # Order by lowest f value
            successors.sort(key=lambda x: x.f)
            best = successors[0]
            if best.f > flimit:
                return None, best.f
            if len(successors) > 1:
                alternative = successors[1].f
            else:
                alternative = infinity
            result, best.f = RBFS(problem, best, min(flimit, alternative))
            if result is not None:
                return result, best.f

    node = Node(problem.initial)
    node.f = h(node)
    result, bestf = RBFS(problem, node, infinity)
    return result

# ______________________________________________________________________________

# Code to compare searchers on various problems.


class InstrumentedProblem(Problem):

    """Delegates to a problem, and keeps statistics."""

    def __init__(self, problem):
        self.problem = problem
        self.succs = self.goal_tests = self.states = 0
        self.found = None

    def actions(self, state):
        self.succs += 1
        return self.problem.actions(state)

    def result(self, state, action):
        self.states += 1
        return self.problem.result(state, action)

    def goal_test(self, state):
        self.goal_tests += 1
        result = self.problem.goal_test(state)
        if result:
            self.found = state
        return result

    def path_cost(self, c, state1, action, state2):
        return self.problem.path_cost(c, state1, action, state2)

    def value(self, state):
        return self.problem.value(state)

    def __getattr__(self, attr):
        return getattr(self.problem, attr)

    def __repr__(self):
        return '<%4d/%4d/%4d/%s>' % (self.succs, self.goal_tests,
                                     self.states, str(self.found)[:4])


def compare_searchers(problems, header,
                      searchers=[breadth_first_tree_search,
                                 breadth_first_search,
                                 depth_first_graph_search,
                                 iterative_deepening_search,
                                 depth_limited_search,
                                 recursive_best_first_search]):
    def do(searcher, problem):
        p = InstrumentedProblem(problem)
        searcher(p)
        return p
    table = [[name(s)] + [do(s, p) for p in problems] for s in searchers]
    print_table(table, header)