public override Direction[] Solve(Maze aMaze)
{
//push the StartState to the frontier
AddToFrontier(aMaze.StartState);
while (!Frontier.Empty())
{
//Pop frontier state into curState
MazeState curState = PopFrontier();
//check if curState is a goalState
//using a loop for each of the variant 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());
}
}
//Find most desirable goal state - i.e. which is closes to the current state
MazeState ClosestGoal = PickDesiredGoalState(curState, aMaze.GoalStates);
//get all possible new states from curState
List <MazeState> newStates = curState.CreatePossibleMoves();
newStates.Reverse(); //Reverse elements to ensure priority is U > L > D > R
foreach (MazeState s in newStates)
{
s.HeuristicCost = GetManhattanDistance(s, ClosestGoal);
AddToFrontier(s);
}
//Sort the frontier by f(n) = h(n)
Frontier.SortByHeuristicCost();
iterationCount++;
}
return(null);
}