public void AStarWithManhattanDistance()
{
ManhattanDistanceHeuristic <Vector> heuristic = new ManhattanDistanceHeuristic <Vector>();
AStarSearch <Vector> aStarSearch = new AStarSearch <Vector>(_problem, heuristic);
SearchResult <Vector> searchResult = aStarSearch.Search();
List <Vector> states = searchResult.States.ToList();
Console.WriteLine("AStar with manhattan");
Console.WriteLine($"OpenList:{aStarSearch.OpenList.Count}");
Console.WriteLine($"ClosedList:{aStarSearch.ClosedList.Count}");
foreach (var state in states)
{
Console.WriteLine(state);
}
}
private void buttonTestRuntimeGAA_Click(object sender, EventArgs e)
{
timer1.Start();
PresenterThread = new Thread(new ThreadStart(() =>
{
SetParameter();
t0 = DateTime.Now;
MazeCount = 10;
int SuccessCount = 0;
for (c = 0; c < MazeCount; c++)
{
List <LightCell> blocked_cells = new List <LightCell>(), unblocked_cells = new List <LightCell>();
int seed = DateTime.Now.Millisecond;
System.Random random = new System.Random(seed);
SetText(("Seed: " + seed) + "\n", richTextBox1);
Maze maze = new Maze(seed, MAZE_W, MAZE_H, PROBABILITY_TO_BLOCK_A_CELL, MAZE_CELL_MAX_COST);
GAAStarLazy gaa_star = new GAAStarLazy(maze, true, false, tie_breaking_strategy,
ManhattanDistanceHeuristic.GetManhattanDistanceHeuristic(), Maze.N_DIRECTIONS_WITHOUT_DIAGONALS);
gaa_star.Solve();
if (gaa_star.HasSolution())
{
SuccessCount++;
}
else
{
timer1.Stop();
PresenterThread.Abort();
}
}
timer1.Stop();
/*SetText(("Average count of search is : " + TotalSearchs + "/" + MazeCount +
* " = " + (TotalSearchs / MazeCount)), richTextBox1);*/
Diff = (DateTime.Now - t0);
SetText("\n Total Time : " + Diff.ToString() + "\n", richTextBox1);
SetText("RunTime per each search : " + (Diff.TotalMilliseconds * 1000 / SuccessCount) + " micro second \n", richTextBox1);
}));
PresenterThread.Start();
}
private Heuristic SelectProperHeuristic()
{
if (MustUseHeuristic())
{
if (checkBoxDiagonalMove.Checked)
{
return(DiagonalDistanceHeuristic.GetDiagonalDistanceHeuristic());
}
else
{
return(ManhattanDistanceHeuristic.GetManhattanDistanceHeuristic());
}
}
else
{
return(NullHeuristic.GetNullHeuristic());
}
}
public PickClosestRandomTileInThresholdAction(string tileIdInBlackboard, string thresholdIdInBlackboard)
{
tileId = tileIdInBlackboard;
thresholdId = thresholdIdInBlackboard;
heuristic = new ManhattanDistanceHeuristic();
}
/* Public: */
public AlgorithmsTest()
{
DateTime t0 = DateTime.Now;
int MazeCount = 5;
int TotalSearchs = 0;
int SuccessCount = 0;
for (int c = 0; c < MazeCount; c++)
{
int OneSearch = 0;
HashSet blocked_cells = new HashSet(), unblocked_cells = new HashSet();
long seed = DateTime.Now.Ticks;
//seed = 27261468842294L;
LightCell maze_cell;
java.util.Random random = new java.util.Random(seed);
System.Console.WriteLine("Seed: " + seed);
Maze maze = new Maze(seed, MAZE_W, MAZE_H, PROBABILITY_TO_BLOCK_A_CELL, MAZE_CELL_MAX_COST);
//GAAStarLazy gaa_star_lazy = new GAAStarLazy(maze , true , false , tie_breaking_strategy ,
// ManhattanDistanceHeuristic.GetManhattanDistanceHeuristic() , Maze.N_DIRECTIONS_WITHOUT_DIAGONALS);
for (maze_cell = maze.GetStart(); maze_cell != maze.GetGoal();)
{
AStar a_star = new AStar(maze, true, false, tie_breaking_strategy,
ManhattanDistanceHeuristic.GetManhattanDistanceHeuristic(), Maze.N_DIRECTIONS_WITHOUT_DIAGONALS);
a_star.Solve();
OneSearch++;
//System.Console.WriteLine("A*:\n" + maze);
//System.Console.WriteLine("A*:\n");
//maze.CleanPath();
//gaa_star_lazy.Solve();
//System.Console.WriteLine("GAA*:\n");
//System.Console.WriteLine("GAA*:\n" + maze);
if (!a_star.HasSolution())
{
System.Console.WriteLine("No solution.");
//System.err.println("Fail: Some algorithms found the solution.");
//System.err.println("A*: " + a_star.HasSolution());
//System.exit(1);
Application.Restart();
}
else
{
SuccessCount++;
//System.Console.WriteLine(OneSearch + " The solution has the following cost: " + a_star.GetPathCost());
}
for (int distance = 0; maze_cell != maze.GetGoal(); distance += 1, maze_cell = maze_cell.GetNextMazeCell())
{
if (distance >= DISTANCE_BEFORE_CHANGE || !a_star.HasSolution())
{
LightCell new_goal;
maze.CleanPath();
maze.SetStart(maze_cell);
//gaa_star_lazy.InformNewStart(maze_cell);
blocked_cells.clear();
unblocked_cells.clear();
/* Block some cells. */
for (int i = 0; i < N_CHANGED_CELLS; i++)
{
LightCell blocked_maze_cell;
int x, y;
x = random.nextInt(maze.GetW());
y = random.nextInt(maze.GetH());
blocked_maze_cell = maze.GetMazeCell(x, y);
if (blocked_maze_cell != maze.GetStart() && blocked_maze_cell != maze.GetGoal() && !blocked_maze_cell.IsBlocked() &&
!blocked_cells.contains(blocked_maze_cell))
{
blocked_maze_cell.Block();
blocked_cells.add(blocked_maze_cell);
}
}
/* Unblock or change the cost of some cells. */
for (int i = 0; i < N_CHANGED_CELLS; i++)
{
LightCell unblocked_maze_cell;
int x, y;
x = random.nextInt(maze.GetW());
y = random.nextInt(maze.GetH());
unblocked_maze_cell = maze.GetMazeCell(x, y);
if (!blocked_cells.contains(unblocked_maze_cell) && !unblocked_cells.contains(unblocked_maze_cell))
{
int new_cost = random.nextInt(MAZE_CELL_MAX_COST) + 1;
if (unblocked_maze_cell.IsBlocked() || unblocked_maze_cell.GetCost() > new_cost)
{
unblocked_cells.add(unblocked_maze_cell);
}
unblocked_maze_cell.SetCost(new_cost);
}
}
/* Change the goal. */
do
{
int x, y;
x = random.nextInt(maze.GetW());
y = random.nextInt(maze.GetH());
new_goal = maze.GetMazeCell(x, y);
} while (blocked_cells.contains(new_goal) || unblocked_cells.contains(new_goal) ||
new_goal == maze.GetGoal() || new_goal == maze.GetStart());
if (new_goal.IsBlocked())
{
unblocked_cells.add(new_goal);
maze.SetGoal(new_goal);
}
else
{
int old_cost = maze.GetGoal().GetCost();
maze.SetGoal(new_goal);
if (old_cost > maze.GetGoal().GetCost())
{
unblocked_cells.add(maze.GetGoal());
}
}
//gaa_star_lazy.InformNewGoal(new_goal);
//if(unblocked_cells.size() > 0) gaa_star_lazy.InformUnblockedCells(unblocked_cells);
break;
}
}
}
TotalSearchs += OneSearch;
System.Console.WriteLine(c +
" Goal is : [" + maze.GetGoal().X + ", " + maze.GetGoal().Y +
"] Current is : [" + maze_cell.X + ", " + maze_cell.Y + "]"
);
}//End of produce 100 maze
TimeSpan diff = (DateTime.Now - t0);
System.Console.WriteLine("Total RunTime : " + diff.ToString());
System.Console.WriteLine("RunTime per search : " + (diff.TotalMilliseconds * 1000 / TotalSearchs) + " micro second");
System.Console.WriteLine("Average count of search is : " + (TotalSearchs / MazeCount));
}
private void buttonStartTest_Click(object sender, EventArgs e)
{
timer1.Start();
PresenterThread = new Thread(new ThreadStart(() =>
{
SetParameter();
t0 = DateTime.Now;
MazeCount = 10;
int TotalSearchs = 0;
int SuccessCount = 0;
for (c = 0; c < MazeCount; c++)
{
int OneSearch = 0;
//Hashtable blocked_cells = new Hashtable() , unblocked_cells = new Hashtable();
//HashSet blocked_cells = new HashSet(), unblocked_cells = new HashSet();
List <LightCell> blocked_cells = new List <LightCell>(), unblocked_cells = new List <LightCell>();
//long seed = DateTime.Now.Ticks;//.Millisecond;
int seed = DateTime.Now.Millisecond;
LightCell maze_cell;
//java.util.Random random = new java.util.Random(seed);
System.Random random = new System.Random(seed);
//richTextBox1.Text += ("Seed: " + seed) + "\n";
//richTextBox1.Refresh();
SetText(("Seed: " + seed) + "\n", richTextBox1);
Maze maze = new Maze(seed, MAZE_W, MAZE_H, PROBABILITY_TO_BLOCK_A_CELL, MAZE_CELL_MAX_COST);
//GAAStarLazy gaa_star_lazy = new GAAStarLazy(maze , true , false , tie_breaking_strategy ,
// ManhattanDistanceHeuristic.GetManhattanDistanceHeuristic() , Maze.N_DIRECTIONS_WITHOUT_DIAGONALS);
for (maze_cell = maze.GetStart(); maze_cell != maze.GetGoal();)
{
AStar a_star = new AStar(maze, true, false, tie_breaking_strategy,
ManhattanDistanceHeuristic.GetManhattanDistanceHeuristic(), Maze.N_DIRECTIONS_WITHOUT_DIAGONALS);
a_star.Solve();
OneSearch++;
//System.out.println("A*:\n" + maze);
//System.out.println("A*:\n");
//maze.CleanPath();
//gaa_star_lazy.Solve();
//System.out.println("GAA*:\n");
//System.out.println("GAA*:\n" + maze);
if (!a_star.HasSolution())
{
//richTextBox1.Text += ("No solution.") + "\n";
SetText(("No solution.") + "\n", richTextBox1);
//System.err.println("Fail: Some algorithms found the solution.");
//System.err.println("A*: " + a_star.HasSolution());
//throw new Exception("Error");\
timer1.Stop();
PresenterThread.Abort();
//break;
}
else
{
SuccessCount++;
//System.out.println(OneSearch + " The solution has the following cost: " + a_star.GetPathCost());
}
for (int distance = 0; maze_cell != maze.GetGoal(); distance += 1, maze_cell = maze_cell.GetNextMazeCell())
{
if (distance >= DISTANCE_BEFORE_CHANGE || !a_star.HasSolution())
{
LightCell new_goal;
maze.CleanPath();
maze.SetStart(maze_cell);
//gaa_star_lazy.InformNewStart(maze_cell);
blocked_cells.Clear(); //blocked_cells.clear();
unblocked_cells.Clear(); //unblocked_cells.clear();
if (checkBoxBlockSomeCell.Checked)
{
/* Block some cells. */
for (int i = 0; i < N_CHANGED_CELLS; i++)
{
LightCell blocked_maze_cell;
int x, y;
x = random.Next(maze.GetW()); //x = random.nextInt(maze.GetW());
y = random.Next(maze.GetH()); // y = random.nextInt(maze.GetH());
blocked_maze_cell = maze.GetMazeCell(x, y);
if (blocked_maze_cell != maze.GetStart() && blocked_maze_cell != maze.GetGoal() && !blocked_maze_cell.IsBlocked() &&
!blocked_cells.Contains(blocked_maze_cell))
{
blocked_maze_cell.Block();
blocked_cells.Add(blocked_maze_cell);
}
}
}
if (checkBoxUnBlock.Checked)
{
/* Unblock or change the cost of some cells. */
for (int i = 0; i < N_CHANGED_CELLS; i++)
{
LightCell unblocked_maze_cell;
int x, y;
x = random.Next(maze.GetW()); //x = random.nextInt(maze.GetW());
y = random.Next(maze.GetH()); // y = random.nextInt(maze.GetH());
unblocked_maze_cell = maze.GetMazeCell(x, y);
if (!blocked_cells.Contains(unblocked_maze_cell) && !unblocked_cells.Contains(unblocked_maze_cell))
{
int new_cost = random.Next(MAZE_CELL_MAX_COST) + 1; //int new_cost = random.nextInt(MAZE_CELL_MAX_COST) + 1;
if (unblocked_maze_cell.IsBlocked() || unblocked_maze_cell.GetCost() > new_cost)
{
unblocked_cells.Add(unblocked_maze_cell);
}
unblocked_maze_cell.SetCost(new_cost);
}
}
}
if (checkBoxMovingTarget.Checked)
{
/* Change the goal. */
do
{
int x, y;
x = random.Next(maze.GetW()); //x = random.nextInt(maze.GetW());
y = random.Next(maze.GetH()); // y = random.nextInt(maze.GetH());
new_goal = maze.GetMazeCell(x, y);
} while (blocked_cells.Contains(new_goal) || unblocked_cells.Contains(new_goal) ||
new_goal == maze.GetGoal() || new_goal == maze.GetStart());
if (new_goal.IsBlocked())
{
unblocked_cells.Add(new_goal);
maze.SetGoal(new_goal);
}
else
{
int old_cost = maze.GetGoal().GetCost();
maze.SetGoal(new_goal);
if (old_cost > maze.GetGoal().GetCost())
{
unblocked_cells.Add(maze.GetGoal());
}
}
}
//gaa_star_lazy.InformNewGoal(new_goal);
//if(unblocked_cells.size() > 0) gaa_star_lazy.InformUnblockedCells(unblocked_cells);
break;
}
}
}
TotalSearchs += OneSearch;
/*richTextBox1.Text += c +
* " Goal is : [" + maze.GetGoal().X + ", " + maze.GetGoal().Y +
* "] Current is : [" + maze_cell.X + ", " + maze_cell.Y + "] \n";
* richTextBox1.Refresh();*/
SetText("Maze " + (c + 1) + " Goal is : [" + maze.GetGoal().X + ", " + maze.GetGoal().Y +
"] Current is : [" + maze_cell.X + ", " + maze_cell.Y + "] \n", richTextBox1);
}//End of produce 100 maze
//richTextBox1.Text += ("Average count of search is : " + (TotalSearchs / MazeCount));
//richTextBox1.Refresh();
SetText(("Average count of search is : " + TotalSearchs + "/" + MazeCount +
" = " + (TotalSearchs / MazeCount)), richTextBox1);
Diff = (DateTime.Now - t0);
SetText("\n" + Diff.ToString() + "\n", richTextBox1);
SetText("RunTime per each search : " + (Diff.TotalMilliseconds * 1000 / TotalSearchs) + " micro second \n", richTextBox1);
timer1.Stop();
}));
PresenterThread.Start();
//richTextBox1.Text = (DateTime.Now - t0).ToString();
//PresenterThread.Abort();
}