/// <summary>
/// get goal state (the end of the maze)
/// </summary>
/// <returns>The goal state</returns>
public Astate getGoalState()
{
Position goal = maze.getGoalPosition();
Astate ans = new MazeState(null, goal);
return(ans);
}
/// <summary>
/// get initial state (the state of the maze)
/// </summary>
/// <returns>The initial state</returns>
public Astate getInitialState()
{
Position start = maze.getStartPosition();
Astate ans = new MazeState(null, start);
return(ans);
}
/// <summary>
/// in order to find the solution we need to go backwards from the goal position to the start position
/// </summary>
/// <param name="v"></param>
/// <returns></returns>
private Solution backtrack(Astate v)
{
Solution sol = new Solution();
MazeState parent = (MazeState)v;
while (parent != null)
{
sol.addState(parent);
parent = (MazeState)parent.cameFrom;
}
sol.Reverse();
return(sol);
}
/// <summary>
/// Returns a List containing all the possible (valid) successors of a gives AState
/// </summary>
/// <param name="state"></param>
/// <returns> List of successors </returns>
public List <AState> getAllSuccessors(AState state)
{
List <AState> successors = new List <AState>();
MazeState mState = (MazeState)state;
int col = mState.getX();
int row = mState.getY();
int floor = mState.getZ();
//Right (Col ++)
if (col + 1 < m_maze3d.getWidth() && m_maze3d.isPath(col + 1, row, floor))
{
successors.Add(new MazeState(state, col + 1, row, floor));
}
//Left (Col --)
if (col - 1 >= 0 && m_maze3d.isPath(col - 1, row, floor))
{
successors.Add(new MazeState(state, col - 1, row, floor));
}
//Up (Row ++)
if (row + 1 < m_maze3d.getHeight() && m_maze3d.isPath(col, row + 1, floor))
{
successors.Add(new MazeState(state, col, row + 1, floor));
}
//Down (Row --)
if (row - 1 >= 0 && m_maze3d.isPath(col, row - 1, floor))
{
successors.Add(new MazeState(state, col, row - 1, floor));
}
//Ascend (Floor ++)
if (floor + 1 < m_maze3d.getLevels() && m_maze3d.isPath(col, row, floor + 1))
{
successors.Add(new MazeState(state, col, row, floor + 1));
}
//Descend (Floor --)
if (floor - 1 >= 0 && m_maze3d.isPath(col, row, floor - 1))
{
successors.Add(new MazeState(state, col, row, floor - 1));
}
return(successors);
}
