// -- Print the map of nodes, with start (A) and goal (B)
public static void PrintMap(Node[,] map, Node start, Node goal)
{
string s = "";
for (int y = 0; y < map.GetLength(1); y++)
{
for (int x = 0; x < map.GetLength(0); x++)
{
if (!map[x, y].IsWalkable()) // If the current node (x,y) is not wakable (a wall/obstacle)
s += "#";
else if (start.GetX() == x && start.GetY() == y) // If current node is start, print 'A'
s += "A";
else if (goal.GetX() == x && goal.GetY() == y) // If current node is goal, print 'A'
s += "B";
else if (map[x, y].GetCost() == 100) // If current node is water, cost = 100, print 'w'
s += "w";
else if (map[x, y].GetCost() == 50) // If current node is moutain, cost = 50, print 'm'
s += "m";
else if (map[x, y].GetCost() == 10) // If current node is water, cost = 10, print 'f'
s += "f";
else if (map[x, y].GetCost() == 5) // If current node is water, cost = 5, print 'g'
s += "g";
else if (map[x, y].GetCost() == 1) // If current node is water, cost = 1, print 'r'
s += "r";
else
s += ".";
}
s += "\n";
}
Console.WriteLine("Map:\n" + s); // Print the map
}
// -- Print the map with the nodes in the open list (*) and in the closed list(x)
public static void PrintMapWithOpenAndClosed(Node[,] map, Node start, Node goal, Node current, List<Node> open, List<Node> closed)
{
string s = "";
for (int y = 0; y < map.GetLength(1); y++)
{
for (int x = 0; x < map.GetLength(0); x++)
{
if (map[x, y] == current) // If current node is the position we are in, print 'o'
s += "o";
else if (start.GetX() == x && start.GetY() == y) // If current node is start, print 'A'
s += "A";
else if (goal.GetX() == x && goal.GetY() == y) // If current node is goal, print 'B'
s += "B";
else if (open.Contains(map[x, y])) // If current node is in the open list, print '*'
s += "*";
else if (closed.Contains(map[x, y])) // If current node is in the open list, print 'x'
s += "x";
else if (!map[x, y].IsWalkable()) // If the current node (x,y) is not wakable (a wall/obstacle)
s += "#";
else if (map[x, y].GetCost() == 100) // If current node is water, cost = 100, print 'w'
s += "w";
else if (map[x, y].GetCost() == 50) // If current node is moutain, cost = 50, print 'm'
s += "m";
else if (map[x, y].GetCost() == 10) // If current node is water, cost = 10, print 'f'
s += "f";
else if (map[x, y].GetCost() == 5) // If current node is water, cost = 5, print 'g'
s += "g";
else if (map[x, y].GetCost() == 1) // If current node is water, cost = 1, print 'r'
s += "r";
else
s += ".";
}
s += "\n";
}
Console.WriteLine("Map with open('*') and closed('x'):\n" + s); // Print the map
}
// // -- Print the map with the path from A to B, pluss which nodes are in the open list (*) and in the closed list(x)
public static void PrintMapWithOpenAndClosedWithPath(Node[,] map, List<Node> path, Node start, Node goal, Node current, List<Node> open, List<Node> closed)
{
string s = "";
for (int y = 0; y < map.GetLength(1); y++)
{
for (int x = 0; x < map.GetLength(0); x++)
{
bool isInResult = false;
foreach (Node node in path) // Check if the current node (x,y) is a part of the path
{
if (node.GetX() == x && node.GetY() == y)
isInResult = true;
}
if (isInResult) // If the current node (x,y) is a part of the path, represent it as 'O'
s += "O";
else if (start.GetX() == x && start.GetY() == y) // If current node is start, print 'A'
s += "A";
else if (goal.GetX() == x && goal.GetY() == y) // If current node is goal, print 'B'
s += "B";
else if (open.Contains(map[x, y])) // If current node is in the open list, print '*'
s += "*";
else if (closed.Contains(map[x, y])) // If current node is in the open list, print 'x'
s += "x";
else if (!map[x, y].IsWalkable()) // If the current node (x,y) is not wakable (a wall/obstacle)
s += "#";
else if (map[x, y].GetCost() == 100) // If current node is water, cost = 100, print 'w'
s += "w";
else if (map[x, y].GetCost() == 50) // If current node is moutain, cost = 50, print 'm'
s += "m";
else if (map[x, y].GetCost() == 10) // If current node is water, cost = 10, print 'f'
s += "f";
else if (map[x, y].GetCost() == 5) // If current node is water, cost = 5, print 'g'
s += "g";
else if (map[x, y].GetCost() == 1) // If current node is water, cost = 1, print 'r'
s += "r";
else
s += ".";
}
s += "\n";
}
Console.WriteLine("Map with open('*'), closed('X') and path('O'):\n" + s); // Print the map
}
// -- Print the map with the path from A to B
public static void PrintResultMap(Node[,] map, List<Node> result, Node start, Node goal)
{
string s = "";
for (int y = 0; y < map.GetLength(1); y++)
{
for (int x = 0; x < map.GetLength(0); x++)
{
bool isInResult = false;
foreach (Node node in result) // Check if the current node (x,y) is a part of the path
{
if (node.GetX() == x && node.GetY() == y)
isInResult = true;
}
if (isInResult) // If the current node (x,y) is a part of the path, represent it as 'O'
s += "O";
else if (!map[x, y].IsWalkable()) // If the current node (x,y) is not wakable (a wall/obstacle)
s += "#";
else if (start.GetX() == x && start.GetY() == y) // If current node is start, print 'A'
s += "A";
else if (goal.GetX() == x && goal.GetY() == y) // If current node is goal, print 'A'
s += "B";
else if (map[x, y].GetCost() == 100) // If current node is water, cost = 100, print 'w'
s += "w";
else if (map[x, y].GetCost() == 50) // If current node is moutain, cost = 50, print 'm'
s += "m";
else if (map[x, y].GetCost() == 10) // If current node is water, cost = 10, print 'f'
s += "f";
else if (map[x, y].GetCost() == 5) // If current node is water, cost = 5, print 'g'
s += "g";
else if (map[x, y].GetCost() == 1) // If current node is water, cost = 1, print 'r'
s += "r";
else
s += ".";
}
s += "\n";
}
Console.WriteLine("Map with path:\n" + s); // Print the map
}
// -- Return child nodes of input node (the nodes north, south, east, and wes on the map)
private static List<Node> GenerateChildren(Node currentNode)
{
List<Node> children = new List<Node>();
int x = currentNode.GetX();
int y = currentNode.GetY();
if (NodeAtCoordinates(x - 1, y) != null)
children.Add(NodeAtCoordinates(x - 1, y)); // West
if (NodeAtCoordinates(x + 1, y) != null)
children.Add(NodeAtCoordinates(x + 1, y)); // East
if (NodeAtCoordinates(x, y - 1) != null)
children.Add(NodeAtCoordinates(x, y - 1)); // North
if (NodeAtCoordinates(x, y + 1) != null)
children.Add(NodeAtCoordinates(x, y + 1)); // South
return children;
}
// -- Get manhatten distance from node a to node b
public static int GetManhattenDistanceBetweenNodes(Node current, Node goal)
{
int x = current.GetX() - goal.GetX();
int y = current.GetY() - goal.GetY();
return (Math.Abs(x) + Math.Abs(y));
}