/// <summary>
/// Inserts a node into the priority queue based on Priority value of node
/// </summary>
/// <param name="value"></param>
public void Enqueue(Node value)
{
if (IsEmpty())
nodes.Add(value);
else
{
bool insert = false;
for (int i = 0; i < nodes.Count; i++)
{
if (value.Priority < nodes[i].Priority)
{
nodes.Insert(i, value);
insert = true;
break;
}
if (nodes[i].Priority == value.Priority)
{
nodes.Insert(i + 1, value);
insert = true;
break;
}
}
if (!insert)
nodes.Add(value);
}
}
/// <summary>
/// Checks if the Node child is present in the list of nodes
/// Returns -1 if not present or returns the index if present
/// </summary>
/// <param name="nodes"></param>
/// <param name="child"></param>
/// <returns></returns>
public static int FindNode(List<Node> nodes, Node child)
{
int flag = -1;
for (int i = 0; i < nodes.Count; i++)
{
if (nodes[i].Equals(child))
{
flag = i;
break;
}
}
return flag;
}
/// <summary>
/// Main method where the program execution starts
/// </summary>
/// <param name="args"></param>
public static void Main(string[] args)
{
Node startNode = new Node();
Node goalNode = new Node();
//Prompts the user to enter start state and goal state
Console.WriteLine("Enter the start state:");
startNode.State = CheckInput();
Console.WriteLine("Enter the goal state:");
goalNode.State = CheckInput();
startNode.PathCost = 0;
startNode.Parent = null;
Node bestNode = new Node();
//Create an object of AStarProgram and call the AStar algorithm
AStarProgram astar = new AStarProgram();
bestNode = astar.AStar(startNode, goalNode);
//Used a stack to display the path of solution
Stack<Node> result = new Stack<Node>();
if (bestNode != null)
{
while (bestNode.Parent != null)
{
result.Push(bestNode);
bestNode = bestNode.Parent;
}
}
else
{
//if bestnode is null then display
Console.WriteLine("Solution does not exist");
}
//Print the solution, Number of nodes generated and nodes expanded
Console.WriteLine("Number of Nodes in solution path : " + result.Count());
Node tempNode = new Node();
startNode.PrintState();
Console.WriteLine();
while (result.Count != 0)
{
tempNode = result.Pop();
tempNode.PrintState();
Console.WriteLine();
}
Console.WriteLine(); Console.WriteLine();
Console.WriteLine("Number of Nodes generated : " + AStarProgram.noOfNodesGenerated);
Console.WriteLine("Number of Nodes Expanded : " + AStarProgram.noOfNodesExpanded);
Console.Read();
}
/// <summary>
/// Moves the blank space to a desired position
/// Returns a child node
/// </summary>
/// <param name="row"></param>
/// <param name="col"></param>
/// <param name="flag1"></param>
/// <param name="flag2"></param>
/// <returns></returns>
public Node MoveOperation(int row, int col, bool flag1, bool flag2)
{
Node successor = new Node();
//Copy the current state into a temporary storage
int[] value = new int[State.Length];
for (int i = 0; i < State.Length; i++)
{
value[i] = this.State[i];
}
//Find the required block to move based the bool values flag1 and flag2
int a;
if (flag2) a = -1; else a = 1;
int row1 = row, col1 = col;
if (flag1) row1 = row + a; else col1 = col + a;
//set the new Node and return it
successor.state = value;
successor.State[puzzleSize * row1 + col1] = successor.State[puzzleSize * row + col];
successor.State[puzzleSize * row + col] = 0;
return successor;
}
/// <summary>
/// Finds the h-cost which is the Manhattan distance between the calling Node and parameter Node
/// </summary>
/// <param name="goalNode"></param>
/// <returns></returns>
public int HCost(Node goalNode)
{
int distance = 0;
for (int i = 0; i < this.State.Length; i++)
{
for (int j = 0; j < this.State.Length; j++)
{
if (this.State[i] != 0 && this.State[i] == goalNode.State[j])
{
int x1 = (i) / puzzleSize; int y1 = (i) % puzzleSize;
int x2 = j / puzzleSize; int y2 = j % puzzleSize;
distance += Math.Abs(x1 - x2) + Math.Abs(y1 - y2);
}
}
}
return distance;
}
/// <summary>
/// Compares the states of two Nodes and returns true if they are same
/// </summary>
/// <param name="current"></param>
/// <returns></returns>
public bool Equals(Node current)
{
for (int i = 0; i < this.State.Length; i++)
{
if (this.State[i] != current.State[i])
return false;
}
return true;
}
/// <summary>
/// Implementation of A* Algorithm
/// Takes the start node and goal node as input and returns the node which matches the goal node
/// </summary>
/// <param name="startNode"></param>
/// <param name="goalNode"></param>
/// <returns></returns>
public Node AStar(Node startNode, Node goalNode)
{
Node INIT = startNode;
//Create a list to track the visited nodes
List<Node> visitedNodes = new List<Node>();
//Create a Queue for the open nodes
AlgoImpl.PriorityQueue queue = new AlgoImpl.PriorityQueue();
//Add the start node to the queue
INIT.Priority = INIT.HCost(goalNode) + INIT.PathCost;
queue.Enqueue(INIT);
//Check the queue for nodes, if empty then return null
while (queue.nodes.Count != 0)
{
//Get the best node with minimum f value from the queue
Node current = queue.Dequeue();
//Add the node to visited nodes
visitedNodes.Add(current);
//Check if the node is goal node and return the node if true else expand its child nodes
if (current.Equals(goalNode))
{
return current;
}
else
{
//Increment the expanded nodes global variable
++noOfNodesExpanded;
//Generated the successor nodes
List<Node> childNodes = current.ChildrenNodes();
//Traverse the nodes
foreach (Node successor in childNodes)
{
int distanceFromNewNode = successor.HCost(goalNode);
//Compute the estimated g-cost of the successor
int estGCost = current.GCost() + Math.Abs(distanceFromNewNode - current.HCost(goalNode));
int findVisited = FindNode(visitedNodes, successor);
//check if the successor is already visited or not, if visted then discard it
if (findVisited == -1)
{
//check if the successor is already in the queue
int found = FindNode(queue.nodes, successor);
//if true
if (found != -1)
{
//if f cost of old node is greater than f cost of successor node, delete it from the queue
//else discard the successor node
if ((queue.nodes.ElementAt(found).PathCost > estGCost + distanceFromNewNode))
queue.Delete(found);
else
continue;
}
//Add the node to the queue and set its parent to curren
successor.Parent = current;
successor.PathCost = estGCost;
successor.Priority = successor.PathCost + distanceFromNewNode;
queue.Enqueue(successor);
++noOfNodesGenerated;
}
else
{
if (estGCost < successor.GCost())
{
visitedNodes.RemoveAt(findVisited);
continue;
}
}
}
}
if (queue.nodes.Count == 100000)
break;
}
return null;
}
