self.uav_pos.update(*new_uav_ps)
时间: 2023-06-15 21:03:39 浏览: 51
这段代码中,`self.uav_pos` 是一个对象,调用了它的 `update` 方法,并将 `new_uav_ps` 作为参数传入。这可能会更新 `self.uav_pos` 中存储的无人机位置信息。具体实现需要看 `update` 方法的定义。通常情况下,这会修改对象内部的状态,以反映新的数据。
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class AbstractGreedyAndPrune(): def __init__(self, aoi: AoI, uavs_tours: dict, max_rounds: int, debug: bool = True): self.aoi = aoi self.max_rounds = max_rounds self.debug = debug self.graph = aoi.graph self.nnodes = self.aoi.n_targets self.uavs = list(uavs_tours.keys()) self.nuavs = len(self.uavs) self.uavs_tours = {i: uavs_tours[self.uavs[i]] for i in range(self.nuavs)} self.__check_depots() self.reachable_points = self.__reachable_points() def __pruning(self, mr_solution: MultiRoundSolution) -> MultiRoundSolution: return utility.pruning_multiroundsolution(mr_solution) def solution(self) -> MultiRoundSolution: mrs_builder = MultiRoundSolutionBuilder(self.aoi) for uav in self.uavs: mrs_builder.add_drone(uav) residual_ntours_to_assign = {i : self.max_rounds for i in range(self.nuavs)} tour_to_assign = self.max_rounds * self.nuavs visited_points = set() while not self.greedy_stop_condition(visited_points, tour_to_assign): itd_uav, ind_tour = self.local_optimal_choice(visited_points, residual_ntours_to_assign) residual_ntours_to_assign[itd_uav] -= 1 tour_to_assign -= 1 opt_tour = self.uavs_tours[itd_uav][ind_tour] visited_points |= set(opt_tour.targets_indexes) # update visited points mrs_builder.append_tour(self.uavs[itd_uav], opt_tour) return self.__pruning(mrs_builder.build()) class CumulativeGreedyCoverage(AbstractGreedyAndPrune): choice_dict = {} for ind_uav in range(self.nuavs): uav_residual_rounds = residual_ntours_to_assign[ind_uav] if uav_residual_rounds > 0: uav_tours = self.uavs_tours[ind_uav] for ind_tour in range(len(uav_tours)): tour = uav_tours[ind_tour] quality_tour = self.evaluate_tour(tour, uav_residual_rounds, visited_points) choice_dict[quality_tour] = (ind_uav, ind_tour) best_value = max(choice_dict, key=int) return choice_dict[best_value] def evaluate_tour(self, tour : Tour, round_count : int, visited_points : set): new_points = (set(tour.targets_indexes) - visited_points) return round_count * len(new_points) 如何改写上述程序,使其能返回所有已经探索过的目标点visited_points的数量,请用代码表示
可以在 `solution()` 方法中添加一个变量来记录已经探索过的目标点数量,然后在每次更新 `visited_points` 后更新这个变量。下面是修改后的代码:
```
class AbstractGreedyAndPrune():
def __init__(self, aoi: AoI, uavs_tours: dict, max_rounds: int, debug: bool = True):
self.aoi = aoi
self.max_rounds = max_rounds
self.debug = debug
self.graph = aoi.graph
self.nnodes = self.aoi.n_targets
self.uavs = list(uavs_tours.keys())
self.nuavs = len(self.uavs)
self.uavs_tours = {i: uavs_tours[self.uavs[i]] for i in range(self.nuavs)}
self.__check_depots()
self.reachable_points = self.__reachable_points()
def __pruning(self, mr_solution: MultiRoundSolution) -> MultiRoundSolution:
return utility.pruning_multiroundsolution(mr_solution)
def solution(self) -> Tuple[MultiRoundSolution, int]:
mrs_builder = MultiRoundSolutionBuilder(self.aoi)
for uav in self.uavs:
mrs_builder.add_drone(uav)
residual_ntours_to_assign = {i : self.max_rounds for i in range(self.nuavs)}
tour_to_assign = self.max_rounds * self.nuavs
visited_points = set()
explored_points = 0
while not self.greedy_stop_condition(visited_points, tour_to_assign):
itd_uav, ind_tour = self.local_optimal_choice(visited_points, residual_ntours_to_assign)
residual_ntours_to_assign[itd_uav] -= 1
tour_to_assign -= 1
opt_tour = self.uavs_tours[itd_uav][ind_tour]
new_points = set(opt_tour.targets_indexes) - visited_points
explored_points += len(new_points)
visited_points |= new_points # update visited points
mrs_builder.append_tour(self.uavs[itd_uav], opt_tour)
return self.__pruning(mrs_builder.build()), explored_points
class CumulativeGreedyCoverage(AbstractGreedyAndPrune):
def evaluate_tour(self, tour : Tour, round_count : int, visited_points : set):
new_points = set(tour.targets_indexes) - visited_points
return round_count * len(new_points)
def local_optimal_choice(self, visited_points, residual_ntours_to_assign):
choice_dict = {}
for ind_uav in range(self.nuavs):
uav_residual_rounds = residual_ntours_to_assign[ind_uav]
if uav_residual_rounds > 0:
uav_tours = self.uavs_tours[ind_uav]
for ind_tour in range(len(uav_tours)):
tour = uav_tours[ind_tour]
quality_tour = self.evaluate_tour(tour, uav_residual_rounds, visited_points)
choice_dict[quality_tour] = (ind_uav, ind_tour)
best_value = max(choice_dict, key=int)
return choice_dict[best_value]
class CumulativeGreedyCoverage(AbstractGreedyAndPrune): choice_dict = {} for ind_uav in range(self.nuavs): uav_residual_rounds = residual_ntours_to_assign[ind_uav] if uav_residual_rounds > 0: uav_tours = self.uavs_tours[ind_uav] for ind_tour in range(len(uav_tours)): tour = uav_tours[ind_tour] quality_tour = self.evaluate_tour(tour, uav_residual_rounds, visited_points) choice_dict[quality_tour] = (ind_uav, ind_tour) best_value = max(choice_dict, key=int) return choice_dict[best_value] def evaluate_tour(self, tour : Tour, round_count : int, visited_points : set): new_points = (set(tour.targets_indexes) - visited_points) return round_count * len(new_points) 如何改写上述程序,使其能返回所有已经探索过的目标点visited_points的数量,请用代码表示
可以将 `visited_points` 作为类成员变量,在每次调用 `evaluate_tour()` 函数时,将探索过的目标点添加到该变量中。然后在 `CumulativeGreedyCoverage` 类中,将所有巡游的 `visited_points` 汇总起来,即可得到所有已经探索过的目标点数量。具体实现如下:
```
class CumulativeGreedyCoverage(AbstractGreedyAndPrune):
def __init__(self, *args, **kwargs):
super().__init__(*args, **kwargs)
self.visited_points = set()
def run(self):
choice_dict = {}
for ind_uav in range(self.nuavs):
uav_residual_rounds = residual_ntours_to_assign[ind_uav]
if uav_residual_rounds > 0:
uav_tours = self.uavs_tours[ind_uav]
for ind_tour in range(len(uav_tours)):
tour = uav_tours[ind_tour]
quality_tour = self.evaluate_tour(tour, uav_residual_rounds, self.visited_points)
choice_dict[quality_tour] = (ind_uav, ind_tour)
best_value = max(choice_dict, key=int)
return choice_dict[best_value], self.visited_points
def evaluate_tour(self, tour : Tour, round_count : int, visited_points : set):
new_points = set(tour.targets_indexes) - visited_points
self.visited_points.update(new_points)
return round_count * len(new_points)
```
在 `run()` 函数中,我们新增了一个变量 `self.visited_points` 来记录所有已经探索过的目标点,然后在 `evaluate_tour()` 函数中,我们将探索过的目标点添加到该变量中。最后,我们在 `run()` 函数中返回所有已经探索过的目标点数量。