Java tutorial
/* LICENSE Copyright (c) 2013-2016, Jesse Hostetler (jessehostetler@gmail.com) All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ /** * */ package edu.oregonstate.eecs.mcplan.domains.sailing; import java.util.Arrays; import org.apache.commons.math3.random.RandomGenerator; /** * @author jhostetler * */ public class SailingWorlds { public static SailingState emptyRectangle(final int V, final int T, final int width, final int height) { final String[] spec = new String[height]; final char[] water = new char[width]; Arrays.fill(water, 'w'); for (int y = 0; y < height; ++y) { spec[y] = new String(water); } final SailingTerrain[][] terrain = parse(spec, 1); return new SailingState(terrain, V, T); } public static class EmptyRectangleFactory implements SailingState.Factory { private final int V; private final int T; private final int width; private final int height; public EmptyRectangleFactory(final int V, final int T, final int width, final int height) { this.V = V; this.T = T; this.width = width; this.height = height; } @Override public SailingState create(final RandomGenerator rng) { final SailingState s0 = emptyRectangle(V, T, width, height); s0.setRandomStartState(rng); return s0; } } public static SailingState squareIsland(final int V, final int T, final int dim, final int island_dim) { final String[] spec = new String[dim]; final char[] water = new char[dim]; Arrays.fill(water, 'w'); final char[] island = new char[dim]; Arrays.fill(island, 'w'); final int water_left = (dim - island_dim) / 2; for (int j = 0; j < island_dim; ++j) { island[water_left + j] = 'l'; } for (int i = 0; i < dim; ++i) { if (i >= water_left && i < water_left + island_dim) { spec[i] = new String(island); } else { spec[i] = new String(water); } } final SailingTerrain[][] terrain = parse(spec, 1); return new SailingState(terrain, V, T); } public static class SquareIslandFactory implements SailingState.Factory { private final int V; private final int T; private final int dim; private final int island_dim; public SquareIslandFactory(final int V, final int T, final int dim, final int island_dim) { this.V = V; this.T = T; this.dim = dim; this.island_dim = island_dim; } @Override public SailingState create(final RandomGenerator rng) { final SailingState s0 = squareIsland(V, T, dim, island_dim); s0.setRandomStartState(rng); return s0; } } public static SailingState randomObstacles(final RandomGenerator rng, final double p, final int V, final int T, final int dim) { final String[] spec = new String[dim]; for (int y = 0; y < dim; ++y) { final char[] noisy = new char[dim]; Arrays.fill(noisy, 'w'); for (int x = 0; x < dim; ++x) { // Note that the y-axis is inverted at this point since the // parse() function is designed to accept a literal array. if (x == 0 && y == dim - 1) { // No obstacles in start continue; } if (x == dim - 1 && y == 0) { // No obstacles in goal continue; } if (rng.nextDouble() < p) { noisy[x] = 'l'; } } spec[y] = new String(noisy); } final SailingTerrain[][] terrain = parse(spec, 1); return new SailingState(terrain, V, T); } public static class RandomObstaclesFactory implements SailingState.Factory { private final double p; private final int V; private final int T; private final int dim; public RandomObstaclesFactory(final double p, final int V, final int T, final int dim) { this.p = p; this.V = V; this.T = T; this.dim = dim; } @Override public SailingState create(final RandomGenerator rng) { final SailingState s0 = randomObstacles(rng, p, V, T, dim); s0.setRandomStartState(rng); return s0; } } private static SailingTerrain[][] parse(final String[] spec, final int scale) { final SailingTerrain[][] terrain = new SailingTerrain[spec.length * scale][]; final int height = spec.length; final int width = spec[0].length(); for (int i = 0; i < spec.length; ++i) { // assert( terrain[i].length == width ); for (int ii = 0; ii < scale; ++ii) { // We use 'height - i - 1' to invert the y-axis, so that y // increases up and the track looks the same as the string array. terrain[i * scale + ii] = new SailingTerrain[spec[height - i - 1].length() * scale]; for (int j = 0; j < spec[height - i - 1].length(); ++j) { final char ij = spec[height - i - 1].charAt(j); for (int jj = 0; jj < scale; ++jj) { if ('w' == ij) { terrain[i * scale + ii][j * scale + jj] = SailingTerrain.Water; } else if ('l' == ij) { terrain[i * scale + ii][j * scale + jj] = SailingTerrain.Land; } else { throw new IllegalArgumentException("spec[" + i + "][" + j + "] = " + spec[i].charAt(j)); } } } } } return terrain; } }