public override Direction[] Solve(Maze aMaze)
{
//ensure variable cost mode is on
SearchMethod.VariableCost = true;
AddToFrontier(aMaze.StartState);
while (!Frontier.Empty())
{
//Pop frontier state into curState
MazeState curState = Frontier.Pop();
Searched.Add(curState);
//check if curState is a goalState
//using a loop for each of the varient goal states listed
for (int i = 0; i < aMaze.GoalStates.Length; i++)
{
if (Maze.AreEqual(curState.State, aMaze.GoalStates[i].State))
{
Maze.OutputState(curState.State);
aMaze.FinalPathCost = curState.Cost;
Console.WriteLine($"Path cost: {aMaze.FinalPathCost}");
iterationCount++;
return(curState.GetPathFromParent());
}
}
//get all possible new states from curState
List <MazeState> newStates = curState.CreatePossibleMoves();
foreach (MazeState s in newStates)
{
AddToFrontier(s);
}
iterationCount++;
Frontier.SortByCost();
}
return(null);
}
