Exemplo n.º 1
0
 public node() {
     this.selfNodexy = new xypoint();
     this.costFromStart = 0;
     this.costToGoal = 0;
     this.totalCost = this.costFromStart + this.costToGoal;
     this.parentNodexy = new xypoint();
     this.terrain = 0;
 }
Exemplo n.º 2
0
        static void Main(string[] args)
        {
            xypoint startNode = new xypoint(1,2);
            xypoint goalNode = new xypoint(3,5);

            String words = helperfunction.AstarSearch(startNode, goalNode);

            Console.WriteLine(words);

        }
Exemplo n.º 3
0
        static public String AstarSearch(xypoint startNode, xypoint goalNode) {

            String returnString = "No routes to reach the goal";

            //TODO need to be fixed
            node[,] map = buildMap(8, 8);
            modifyMap(map);

            List<node> open = new List<node>();
            List<node> closed = new List<node>();

            // this is the initial node
            map[startNode.x, startNode.y].costToGoal = PathCostEstimation(startNode, goalNode);
            map[startNode.x, startNode.y].totalCost = map[startNode.x, startNode.y].costToGoal;

            open.Add(map[startNode.x, startNode.y]);

            while (open.Count>0) {
                int index = lowestTotalCost(open);
                node Node = pop(open, index);

                if (Node.selfNodexy.x == goalNode.x && Node.selfNodexy.y == goalNode.y)
                {
                    Console.WriteLine("Goal("+goalNode.x+","+goalNode.y+")");
                    xypoint print = Node.parentNodexy;
                    while (print.x != 0 && print.y != 0) {
                        Console.WriteLine("("+print.x+","+ print.y+")");
                        print = map[print.x, print.y].parentNodexy;
                    }
                    returnString = "success";
                    break;
                }
                else {
                    List<node> SuccessorNodes = successorNodes(Node, map);
                    foreach (node NewNode in SuccessorNodes) {
                        float NewCost = Node.costFromStart + TraverseCost(NewNode.selfNodexy, Node.selfNodexy);


                        if (((open.IndexOf(NewNode) != -1) || (closed.IndexOf(NewNode) != -1)) &&
                            NewNode.costFromStart <= NewCost)
                        {
                            continue;
                        }
                        else {
                            map[NewNode.selfNodexy.x, NewNode.selfNodexy.y].parentNodexy = Node.selfNodexy;
                            map[NewNode.selfNodexy.x, NewNode.selfNodexy.y].costFromStart = NewCost;
                            map[NewNode.selfNodexy.x, NewNode.selfNodexy.y].costToGoal = PathCostEstimation(NewNode.selfNodexy, goalNode);
                            map[NewNode.selfNodexy.x, NewNode.selfNodexy.y].totalCost = 
                                map[NewNode.selfNodexy.x, NewNode.selfNodexy.y].costFromStart + 
                                map[NewNode.selfNodexy.x, NewNode.selfNodexy.y].costToGoal;
                            if (closed.IndexOf(NewNode) != -1) {
                                closed.Remove(NewNode);
                            }
                            if (open.IndexOf(NewNode) != -1)
                            {
                                open.Remove(NewNode);
                                open.Add(map[NewNode.selfNodexy.x, NewNode.selfNodexy.y]);
                            }
                            else {
                                open.Add(NewNode);
                            }
                        }
                    }
                }
                closed.Add(Node);
            }
            return returnString;
        }
Exemplo n.º 4
0
 static private float PathCostEstimation(xypoint startNode, xypoint goalNode) {
     return (float)Math.Sqrt(Math.Pow(startNode.x - goalNode.x, 2) + Math.Pow(startNode.y - goalNode.y, 2));
 }
Exemplo n.º 5
0
 static private float TraverseCost(xypoint startNode, xypoint endNode) {
     return PathCostEstimation(startNode, endNode);
 }