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Change dot cluster behavior#36

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ll-nick merged 21 commits intopacman-demoKIT-MRT/arbitration_graphs:pacman-demofrom change_dot_cluster_behaviorKIT-MRT/arbitration_graphs:change_dot_cluster_behaviorCopy head branch name to clipboardOct 7, 2024

+577-93

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Commits on Oct 4, 2024

• Generalize mazeAdapter to be reused in clustering algorithm

  

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• Move positionConsideringTunnel into maze class

  

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• Add ClusterFinder class

  

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• Add and compute center for each cluster

  

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• Find clusters during init and use getter function

  

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• Use Positions alias

  

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• rename getter functions to clarify that we are talking about dot clusters

  

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• Add clusterFinder to environment model

  

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• Power pellets can be part of a cluster

  

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• Return the full clusters vector instead of just the cluster centers

  

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• Add convenience function to determine whether given position is within a cluster

  

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• Add another astar interface to the env model

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• Add changeDotClusterBehavior

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• Bug fix: Fix out of range error in run away and chase ghost behaviors

  

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• Add changeDotClusterBehavior to pacmanAgent

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• Add documentation and tidy up

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• Use std::optional for A* path return types

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Commits on Oct 7, 2024

• Apply suggestions from code review

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• Move behavior implementation out of header

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• Remove non-obvious abbreviation from variable name

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• Generalize unit test to not assume a given order of clusters

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