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