public void ShortestPathSearch(List <Points> list, Points end)
{
WriteToFile(">>>>>>>Shortest Path Search Map 1 <<<<<<<<<<");
int counter = 0;
moveList = list.ToList();
while (true)
{
moveList = Calculations.ActionSPS(moveList, position);
Points firstItem = new Points();
firstItem = moveList.ElementAt(0);
history.Add(firstItem);
position.xCoord = firstItem.xCoord;
position.yCoord = firstItem.yCoord;
Console.WriteLine(firstItem.ToString());
WriteToFile(firstItem.ToString());
moveList.RemoveAt(0);
counter++;
if (firstItem.xCoord == end.xCoord && firstItem.yCoord == end.yCoord)
{
Console.WriteLine("goal is reached in " + counter + " moves.");
WriteToFile("goal is reached in " + counter + " moves.");
return;
}
}
}
//starting prototype for online robot search
public void MoveThruCourse(List <Points> list, Points start, Points end, int mapNumber)
{
WriteToFile(">>>>>>> Greedy best-first search for map " + mapNumber + "<<<<<<<<<<");
int moves = 0;
while (true)
{
Points upPoints = new Points((this.position.xCoord) - 1, this.position.yCoord);
Points downPoints = new Points((this.position.xCoord) + 1, this.position.yCoord);
Points rightPoints = new Points(this.position.xCoord, (this.position.yCoord) + 1);
//give each point a value
Console.WriteLine(upPoints.ToString());
Console.WriteLine(downPoints.ToString());
Console.WriteLine(rightPoints.ToString());
var doubleList = new List <double>();
double upPointsValue = (double)upPoints.PointValue(end);
double downPointsValue = (double)downPoints.PointValue(end);
double rightPointsValue = (double)rightPoints.PointValue(end);
//check if move is on no contact list or a prior move (stops repeat evaluations) there is a
//better way, however, with time contraints, I used this.
if ((upPoints.NotOnList(list)) && (upPoints.NotOnList(moveList)))
{
doubleList.Add(upPointsValue);
}
if ((downPoints.NotOnList(list)) && (downPoints.NotOnList(moveList)))
{
doubleList.Add(downPointsValue);
}
if ((rightPoints.NotOnList(list)) && (rightPoints.NotOnList(moveList)))
{
doubleList.Add(rightPointsValue);
}
doubleList.Sort();
//add to move history
moveList.Add(position);
WriteToFile("upValue: " + upPointsValue + " downValue: " + downPointsValue + " rightValue: " + rightPointsValue);
WriteToFile("current position: " + position.ToString());
if ((doubleList[0]) == rightPointsValue)
{
MoveRight();
}
else if ((doubleList[0]) == downPointsValue)
{
MoveDown();
}
else if ((doubleList[0]) == upPointsValue)
{
MoveUp();
}
else
{
Console.WriteLine("I'm STUCK....HELP!!!!");
}
if ((position.xCoord == end.xCoord) && (position.yCoord == end.yCoord))
{
Console.WriteLine("Congrats. Goal reached!!!!! \n" +
"number of moves: " + moves);
WriteToFile("Congrats. Goal reached!!!!! \n" +
"number of moves: " + moves);
return;
}
moves++;
}
}