//Draw process of expanding node
public void Draw(point2D initial, point2D goal, List <grid> wall, point2D visitedNode, int mapWidth, int mapLength)
{
Console.Clear();
bool wallDrawn = false;
for (int i = 0; i < mapWidth; i++)
{
for (int j = 0; j < mapLength; j++)
{
if ((initial.X == j) && (initial.Y == i))
{
Console.Write("|i");
continue;
}
if ((goal.X == j) && (goal.Y == i))
{
Console.Write("|g");
continue;
}
if ((visitedNode.X == j) && (visitedNode.Y == i))
{
Console.Write("|x");
continue;
}
foreach (grid g in wall)
{
if ((g.IsWall == true) && (g.Pos.X == j) && (g.Pos.Y == i))
{
Console.Write("|w");
wallDrawn = true;
break;
}
wallDrawn = false;
}
if (wallDrawn == false)
{
Console.Write("| ");
}
}
Console.WriteLine("|");
}
if ((visitedNode.X == goal.X) && (visitedNode.Y == goal.Y))
{
Console.WriteLine("\nSolution found at: ({0},{1})", visitedNode.X, visitedNode.Y);
}
else
{
Console.WriteLine("\nExpanding node: ({0},{1})", visitedNode.X, visitedNode.Y);
}
}
//Robot constructor
public robot(string initialState, string goalState, map map)
{
IntFromString ifs = new IntFromString(initialState);
List <int> coordinate = ifs.getIntFromString();
pos = new point2D(coordinate[0], coordinate[1]);
ifs = new IntFromString(goalState);
coordinate = ifs.getIntFromString();
goalPos = new point2D(coordinate[0], coordinate[1]);
robotMap = map;
}
//Draw solution
public void DrawPath(point2D initial, point2D goal, List <grid> wall, int mapWidth, int mapLength, List <point2D> path)
{
Console.Clear();
bool wallDrawn = false;
for (int i = 0; i < mapWidth; i++)
{
for (int j = 0; j < mapLength; j++)
{
if ((initial.X == j) && (initial.Y == i))
{
Console.Write("|i");
continue;
}
if ((goal.X == j) && (goal.Y == i))
{
Console.Write("|g");
continue;
}
if (path.Any(x => x.X == j && x.Y == i))
{
Console.Write("|x");
continue;
}
foreach (grid g in wall)
{
if ((g.IsWall == true) && (g.Pos.X == j) && (g.Pos.Y == i))
{
Console.Write("|w");
wallDrawn = true;
break;
}
wallDrawn = false;
}
if (wallDrawn == false)
{
Console.Write("| ");
}
}
Console.WriteLine("|");
}
Console.WriteLine();
}
public point2D(point2D parent)
{
x = parent.X;
y = parent.Y;
}
//Produce solution action
public string produceSolution(string method, point2D initial, point2D child, List <point2D> expanded)
{
string solution = "";
List <point2D> path = new List <point2D>();
List <string> action = new List <string>();
expanded.Reverse();
foreach (point2D p in expanded)
{
if ((p.X == child.X) && (p.Y == child.Y))
{
path.Add(p);
}
if (path.Count() != 0)
{
if ((path.Last().ParentNode.X == p.X) && (path.Last().ParentNode.Y == p.Y))
{
path.Add(p);
}
}
}
path.Reverse();
//Produce action from path
for (int i = 0; i < path.Count(); i++)
{
if (i == path.Count() - 1)
{
break;
}
if (path[i + 1].X == path[i].X + 1)
{
action.Add(MoveRight());
}
if (path[i + 1].X == path[i].X - 1)
{
action.Add(MoveLeft());
}
if (path[i + 1].Y == path[i].Y + 1)
{
action.Add(MoveDown());
}
if (path[i + 1].Y == path[i].Y - 1)
{
action.Add(MoveUp());
}
}
foreach (string a in action)
{
solution = solution + a + "; ";
}
ui.DrawPath(pos, goalPos, robotMap.WallList, robotMap.Width, robotMap.Length, path);
return(method + " " + expanded.Count() + " " + solution);
}
public grid(point2D ppos, bool wall)
{
pos = ppos;
isWall = wall;
}
