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Tested AStar
This commit is contained in:
Tomasz Dzierzbicki 2020-04-25 18:08:03 +00:00
parent 0df9493538
commit 914bdcca0e
1 changed files with 546 additions and 243 deletions
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307
Main.cpp
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@ -1,10 +1,24 @@
#include<iostream> #include<iostream>
#include<stdlib.h> #include<stdlib.h>
#include<windows.h> #include<windows.h>
#include<conio.h> #include<conio.h>
#include<string> #include<string>
#include<list>
#include<set>
#include<math.h>
#include<stack>
using namespace std; using namespace std;
const int ROW = 27;
const int COL = 27;
typedef pair<int, int> Pair;
typedef pair<double, pair<int, int>> pPair;
struct cell
{
int parent_i, parent_j;
double f, g, h;
};
char pole[27][27][2]; char pole[27][27][2];
int pozycjaTraktoraX = 1, pozycjaTraktoraY = 1; int pozycjaTraktoraX = 1, pozycjaTraktoraY = 1;
@ -190,10 +204,294 @@ void Move(char kierunek)
} }
} }
void MoveOwn(char akcja)
{
/*
switch (akcja)
{
//do przodu
case 'd':
{
if (pole[pozycjaTraktoraX - 1][pozycjaTraktoraY][0] != '#')
{
pole[pozycjaTraktoraX][pozycjaTraktoraY][0] = '.';
pozycjaTraktoraX--;
pole[pozycjaTraktoraX][pozycjaTraktoraY][0] = 'T';
}
updatePola();
}break;
//dół-(s)
case 's':
{
if (pole[pozycjaTraktoraX + 1][pozycjaTraktoraY][0] != '#')
{
pole[pozycjaTraktoraX][pozycjaTraktoraY][0] = '.';
pozycjaTraktoraX++;
pole[pozycjaTraktoraX][pozycjaTraktoraY][0] = 'T';
}
updatePola();
}break;
//lewo-(a)
case 'a':
{
if (pole[pozycjaTraktoraX][pozycjaTraktoraY - 1][0] != '#')
{
pole[pozycjaTraktoraX][pozycjaTraktoraY][0] = '.';
pozycjaTraktoraY--;
pole[pozycjaTraktoraX][pozycjaTraktoraY][0] = 'T';
}
updatePola();
}break;
}*/
}
bool isValid(int x, int y)
{
if (pole[x][y][0] != '#')
{
return true;
}
return false;
}
bool isDestination(int x, int y,Pair dest)
{
if (dest.first == x && dest.second == y)
{
return true;
}
return false;
}
double calculateHValue(int x, int y, Pair dest)
{
return abs(x - dest.first) + abs(y - dest.second);
}
void tracePath(cell cellDetails[][COL], Pair dest)
{
printf("\nThe Path is ");
int row = dest.first;
int col = dest.second;
stack<Pair> Path;
while (!(cellDetails[row][col].parent_i == row
&& cellDetails[row][col].parent_j == col))
{
Path.push(make_pair(row, col));
int temp_row = cellDetails[row][col].parent_i;
int temp_col = cellDetails[row][col].parent_j;
row = temp_row;
col = temp_col;
}
Path.push(make_pair(row, col));
while (!Path.empty())
{
pair<int, int> p = Path.top();
Path.pop();
printf("-> (%d,%d) ", p.first, p.second);// jeśli sec+1=posTraktorX to koleny ruch w prawo Move('d')
}
return;
}
void aStarSearch(int grid[][COL],Pair src, Pair dest)
{
bool closedList[ROW][COL];
memset(closedList, false, sizeof(closedList));
cell cellDetails[ROW][COL];
int i, j;
for (i = 0; i < ROW; i++)
{
for (j = 0; j < COL; j++)
{
cellDetails[i][j].f = FLT_MAX;
cellDetails[i][j].g = FLT_MAX;
cellDetails[i][j].h = FLT_MAX;
cellDetails[i][j].parent_i = -1;
cellDetails[i][j].parent_j = -1;
}
}
i = src.first, j = src.second;
cellDetails[i][j].f = 0.0;
cellDetails[i][j].g = 0.0;
cellDetails[i][j].h = 0.0;
cellDetails[i][j].parent_i = i;
cellDetails[i][j].parent_j = j;
set<pPair> openList;
openList.insert(make_pair(0.0, make_pair(i, j)));
bool foundDest = false;
while (!openList.empty())
{
pPair p = *openList.begin();
openList.erase(openList.begin());
i = p.second.first;
j = p.second.second;
closedList[i][j] = true;
double gNew, hNew, fNew;
//----------- 1st Successor (North) ------------
if (isValid(i - 1, j) == true)
{
if (isDestination(i - 1, j, dest) == true)
{
cellDetails[i - 1][j].parent_i = i;
cellDetails[i - 1][j].parent_j = j;
//printf("The destination cell is found\n");
tracePath(cellDetails, dest);
foundDest = true;
return;
}
else if (closedList[i - 1][j] == false)
{
gNew = cellDetails[i][j].g + 1.0; //???????-waga
hNew = calculateHValue(i - 1, j, dest);
fNew = gNew + hNew;
if (cellDetails[i - 1][j].f == FLT_MAX ||
cellDetails[i - 1][j].f > fNew)
{
openList.insert(make_pair(fNew,
make_pair(i - 1, j)));
cellDetails[i - 1][j].f = fNew;
cellDetails[i - 1][j].g = gNew;
cellDetails[i - 1][j].h = hNew;
cellDetails[i - 1][j].parent_i = i;
cellDetails[i - 1][j].parent_j = j;
}
}
}
//----------- 2nd Successor (South) ------------
if (isValid(i + 1, j) == true)
{
if (isDestination(i + 1, j, dest) == true)
{
cellDetails[i + 1][j].parent_i = i;
cellDetails[i + 1][j].parent_j = j;
//printf("The destination cell is found\n");
tracePath(cellDetails, dest);
foundDest = true;
return;
}
else if (closedList[i + 1][j] == false)
{
gNew = cellDetails[i][j].g + 1.0;
hNew = calculateHValue(i + 1, j, dest);
fNew = gNew + hNew;
if (cellDetails[i + 1][j].f == FLT_MAX ||
cellDetails[i + 1][j].f > fNew)
{
openList.insert(make_pair(fNew, make_pair(i + 1, j)));
cellDetails[i + 1][j].f = fNew;
cellDetails[i + 1][j].g = gNew;
cellDetails[i + 1][j].h = hNew;
cellDetails[i + 1][j].parent_i = i;
cellDetails[i + 1][j].parent_j = j;
}
}
}
//----------- 3rd Successor (East) ------------
if (isValid(i, j + 1) == true)
{
if (isDestination(i, j + 1, dest) == true)
{
cellDetails[i][j + 1].parent_i = i;
cellDetails[i][j + 1].parent_j = j;
//printf("The destination cell is found\n");
tracePath(cellDetails, dest);
foundDest = true;
return;
}
else if (closedList[i][j + 1] == false)
{
gNew = cellDetails[i][j].g + 1.0;
hNew = calculateHValue(i, j + 1, dest);
fNew = gNew + hNew;
if (cellDetails[i][j + 1].f == FLT_MAX ||
cellDetails[i][j + 1].f > fNew)
{
openList.insert(make_pair(fNew,
make_pair(i, j + 1)));
cellDetails[i][j + 1].f = fNew;
cellDetails[i][j + 1].g = gNew;
cellDetails[i][j + 1].h = hNew;
cellDetails[i][j + 1].parent_i = i;
cellDetails[i][j + 1].parent_j = j;
}
}
}
//----------- 4th Successor (West) ------------
if (isValid(i, j - 1) == true)
{
if (isDestination(i, j - 1, dest) == true)
{
cellDetails[i][j - 1].parent_i = i;
cellDetails[i][j - 1].parent_j = j;
//printf("The destination cell is found\n");
tracePath(cellDetails, dest);
foundDest = true;
return;
}
else if (closedList[i][j - 1] == false)
{
gNew = cellDetails[i][j].g + 1.0;
hNew = calculateHValue(i, j - 1, dest);
fNew = gNew + hNew;
if (cellDetails[i][j - 1].f == FLT_MAX ||
cellDetails[i][j - 1].f > fNew)
{
openList.insert(make_pair(fNew,
make_pair(i, j - 1)));
cellDetails[i][j - 1].f = fNew;
cellDetails[i][j - 1].g = gNew;
cellDetails[i][j - 1].h = hNew;
cellDetails[i][j - 1].parent_i = i;
cellDetails[i][j - 1].parent_j = j;
}
}
}
}
if (foundDest == false)
printf("Failed to find the Destination Cell\n");
return;
}
void gogo()
{
int grid[27][27];
for (int i = 0; i < 27; i++)
{
for (int j = 0; j < 27; j++)
{
grid[i][j] = 0;
}
}
Pair src = make_pair(pozycjaTraktoraX, pozycjaTraktoraY);
Pair dest = make_pair(pozycjaTraktoraX+2, pozycjaTraktoraY+3);
aStarSearch(grid, src, dest);
}
int main() int main()
{ {
SetWindow(50, 30); SetWindow(50, 30);
//create pola// //create pola//
for (int i = 0; i < 27; i++) for (int i = 0; i < 27; i++)
{ {
@ -207,18 +505,23 @@ int main()
for (int j = 1; j < 26; j++) for (int j = 1; j < 26; j++)
{ {
pole[i][j][0] = '.'; pole[i][j][0] = '.';
pole[i][j][1] = '1';
} }
} }
for (int i = 0; i < 25; i++) for (int i = 0; i < 25; i++)
{ {
pole[i + 1][i + 1][0] = 'B'; pole[i + 1][i + 1][0] = 'B';
pole[i + 1][i + 1][1] = '10';
} }
pole[1][1][0] = 'T'; pole[1][1][0] = 'T';
updatePola(); updatePola();
gogo();
//---------start---------// //---------start---------//
bool traktorDziala = true; bool traktorDziala = true;