Merge branch 'master' of s444428/AL-2020 into master
This commit is contained in:
commit
3a65dad094
@ -69,6 +69,7 @@ class Agent{
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}
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}
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goForward(){
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goForward(){
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this.hideAgent()
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if(this.turn == 'Up'){
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if(this.turn == 'Up'){
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this.positionY += 1;
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this.positionY += 1;
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}
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}
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@ -81,6 +82,26 @@ class Agent{
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else if(this.turn == 'Right'){
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else if(this.turn == 'Right'){
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this.positionX += 1;
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this.positionX += 1;
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}
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}
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this.showAgent()
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}
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goToField(field){
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if(field.yField > this.positionY){
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//pole jest nad agentem
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}
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if(field.yField < this.positionY){
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//pole jest pod agentem
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}
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if(field.xField > this.positionX){
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//pole jest na prawo
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}
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if(field.xField < this.positionX){
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//pole jest na lewo
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}
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}
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}
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@ -94,8 +115,8 @@ class Field{
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this.isOccupiedByAgent = isOccupiedByAgent;
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this.isOccupiedByAgent = isOccupiedByAgent;
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this.costOfTravel = costOfTravel;
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this.costOfTravel = costOfTravel;
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this.neighbors = [];
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this.neighbors = [];
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this.gScore = 0;
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this.g = 0;
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this.heuristic = 0;
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this.h = 0;
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this.f = 0;
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this.f = 0;
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this.previous = undefined;
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this.previous = undefined;
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}
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}
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@ -376,24 +397,37 @@ function addNeighbors(board){
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}
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}
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}
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}
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function colorGreen(field){
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// function colorGreen(field){
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document.getElementById(field.xField + "-" + field.yField).style.backgroundColor = "green";
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// document.getElementById(field.xField + "-" + field.yField).style.backgroundColor = "green";
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// }
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// function colorRed(field){
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// document.getElementById(field.xField + "-" + field.yField).style.backgroundColor = "red";
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// }
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// function colorYellow(field){
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// document.getElementById(field.xField + "-" + field.yField).style.backgroundColor = "yellow";
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// }
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const colorFactory = color => (field, animationFrame) => {
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const delay = animationFrame * 50
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console.log(delay)
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setTimeout(() => {
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document.getElementById(field.xField + "-" + field.yField).style.backgroundColor = color;
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}, delay);
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return ++animationFrame
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}
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}
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function colorRed(field){
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const colorYellow = colorFactory('yellow')
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document.getElementById(field.xField + "-" + field.yField).style.backgroundColor = "red";
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const colorGreen = colorFactory('green')
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}
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const colorRed = colorFactory('red')
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function colorYellow(field){
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// function addNeighborsToOpenSet(set, neigbors){
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document.getElementById(field.xField + "-" + field.yField).style.backgroundColor = "yellow";
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// for(x = 0; x < neigbors.length; x++){
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}
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// set.push(neigbors[x]);
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// colorGreen(neigbors[x]);
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function addNeighborsToOpenSet(set, neigbors){
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// }
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for(x = 0; x < neigbors.length; x++){
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// }
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set.push(neigbors[x]);
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colorGreen(neigbors[x]);
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}
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}
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function addToClosedSet(set, field){
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function addToClosedSet(set, field){
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set.push(field);
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set.push(field);
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@ -432,24 +466,27 @@ function removeFromSet(openSet, promisingField){
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}
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}
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}
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}
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function sleep(milliseconds) {
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const date = Date.now();
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let currentDate = null;
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do {
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currentDate = Date.now();
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} while (currentDate - date < milliseconds);
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}
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function aStar(startField, goalField){
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function aStar(startField, goalField){
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let closedSet = [];
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let closedSet = [];
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let openSet = [];
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let openSet = [];
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var path;
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var path;
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let animationFrame = 0
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addToOpenSet(openSet, startField)
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// addToOpenSet(openSet, startField)
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openSet.push(startField);
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colorGreen(startField, animationFrame);
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while(openSet.length > 0){
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while(openSet.length > 0){
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let current = findLowestFScore(openSet, goalField);
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// let current = findLowestFScore(openSet, goalField);
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let winner = 0;
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for(let i = 0; i < openSet.length; i++){
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if (openSet[i].f < openSet[winner].f){
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winner = i
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}
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}
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let current = openSet[winner];
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if(current === goalField){
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if(current === goalField){
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path = []
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path = []
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@ -462,36 +499,38 @@ function aStar(startField, goalField){
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console.log("A* COMPLETED");
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console.log("A* COMPLETED");
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for(var i = 0; i < path.length; i++){
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for(var i = 0; i < path.length; i++){
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colorYellow(path[i]);
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animationFrame = colorYellow(path[i], animationFrame);
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}
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}
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return path
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return path;
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}
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}
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removeFromSet(openSet, current);
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removeFromSet(openSet, current);
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addToClosedSet(closedSet, current);
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// addToClosedSet(closedSet, current);
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closedSet.push(current);
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animationFrame = colorRed(current, animationFrame);
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var neighbors = current.neighbors;
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var neighbors = current.neighbors;
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for(var i = 0; i < neighbors.length; i++){
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for(var i = 0; i < neighbors.length; i++){
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var neighbor = neighbors[i];
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var neighbor = neighbors[i];
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if(!closedSet.includes(neighbor)){
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if(!closedSet.includes(neighbor)){
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var tempG = current.gScore + neighbor.costOfTravel;
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var tempG = current.g + neighbor.costOfTravel;
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if(openSet.includes(neighbor)){
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if(openSet.includes(neighbor)){
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if(tempG < neighbor.gScore){
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if(tempG < neighbor.g){
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neighbor.gScore = tempG;
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neighbor.g = tempG;
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}
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}
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} else {
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} else {
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neighbor.gScore = tempG;
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neighbor.g = tempG;
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addToOpenSet(openSet, neighbor);
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// addToOpenSet(openSet, neighbor);
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openSet.push(neighbor);
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animationFrame = colorGreen(neighbor,animationFrame);
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}
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}
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neighbor.h = getDistance(neighbor, goalField);
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neighbor.f = neighbor.g + neighbor.h;
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neighbor.heuristic = getDistance(neighbor, goalField);
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neighbor.f = neighbor.gScore + neighbor.heuristic;
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neighbor.previous = current;
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neighbor.previous = current;
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}
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}
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}
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}
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}
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}
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@ -499,7 +538,6 @@ function aStar(startField, goalField){
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function executePath(agent, path){
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function executePath(agent, path){
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}
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}
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@ -509,15 +547,22 @@ board = createCostofField(board, 10, 10);
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let candy = new Candy('zelek', 'truskawkowy', 'Jumbo', 541);
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let candy = new Candy('zelek', 'truskawkowy', 'Jumbo', 541);
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let shelfs = createShelf();
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let shelfs = createShelf();
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let agent = new Agent(0,0, 'Right');
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let agent = new Agent(0,0, 'Right');
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var button = document.getElementById("testButton");
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addNeighbors(board);
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addNeighbors(board);
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function delayedFunction(func, index, time) {
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setTimeout(() => func(), time * index);
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}
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function start(){
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function start(){
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showBoard(board);
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showBoard(board);
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let path = aStar(board[0][0], board[7][7]);
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// for (let i = 0; i<9; i++) {
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//console.log(path);
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// delayedStep(agent, i);
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// }
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const path = aStar(board[0][0], board[9][9]);
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// agent.showAgent();
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console.log(path.reverse())
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}
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}
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