Browse Source

Added IDA* control step

Added flow control to find start+destination points,
and increase the threshold if a search doesn't reach the destination.

Next step: implement search.
pull/1/head
Kenneth Bruen 3 years ago
parent
commit
1e70b4c1f1
Signed by: kbruen
GPG Key ID: C1980A470C3EE5B1
  1. 81
      IDAstar.cs

81
IDAstar.cs

@ -1,9 +1,9 @@
using System.Collections.ObjectModel;
using System.Threading.Channels;
namespace IdaStar {
namespace IdaStar
{
public enum CellState {
public enum CellState {
EMPTY,
OBSTACLE,
START,
@ -41,7 +41,13 @@ namespace IdaStar {
}
}
public class WorkingBoard {
public record struct Point(int Row, int Column) {
public int ManhattanDistance(Point otherPoint) {
return Math.Abs(Row - otherPoint.Row) + Math.Abs(Column - otherPoint.Column);
}
}
public class WorkingBoard {
readonly List<List<CellState>> _board;
public WorkingBoard(List<List<CellState>> board) {
@ -65,11 +71,74 @@ namespace IdaStar {
public event Action<WorkingBoard>? AlgorithmStep;
public void RunIdaStar() {
throw new NotImplementedException();
/// <summary>
/// Clean board, making it ready for a new run.
///
/// This is achieved by setting all PATH states to EMPTY states.
/// </summary>
public void Reset() {
foreach (var row in _board) {
for (var i = 0; i < row.Count; i++) {
if (row[i] == CellState.PATH) {
row[i] = CellState.EMPTY;
}
}
}
}
public void RunIdaStar() => RunIdaStar(0, 1, (p1, p2) => p1.ManhattanDistance(p2));
public void RunIdaStar<Comp>(Comp zero, Comp increment, Func<Point, Point, Comp> heuristic) where Comp: IComparable<Comp> {
// Don't run algorithm on a "dirty" board
// "dirty" = the algorithm was already ran before
if (_board.Select((row) => row.Where((state) => state == CellState.PATH).Count()).Any((cnt) => cnt > 0)) {
throw new DirtyBoardException();
}
Point findPoint(CellState neededState) {
for (var i = 0; i < _board.Count; i++) {
for (var j = 0; j < _board[i].Count; j++) {
if (_board[i][j] == CellState.START) {
return new(i, j);
}
}
}
throw new NoPoint(neededState);
}
Point startPoint = findPoint(CellState.START);
Point destinationPoint = findPoint(CellState.DESTINATION);
Comp search(Point current, Comp cost, Comp threshold) {
throw new NotImplementedException();
}
var threshold = heuristic(startPoint, destinationPoint);
while (threshold.CompareTo(zero) == 0) {
threshold = search(startPoint, zero, threshold);
}
}
}
[System.Serializable]
public class DirtyBoardException : System.Exception
{
public DirtyBoardException() : base("The board is dirty (contains path cells)") { }
public DirtyBoardException(System.Exception inner) : base("The board is dirty (contains path cells)", inner) { }
protected DirtyBoardException(
System.Runtime.Serialization.SerializationInfo info,
System.Runtime.Serialization.StreamingContext context) : base(info, context) { }
}
[System.Serializable]
public class NoPoint : System.Exception
{
public NoPoint(CellState neededState) : base($"The board doesn't contain any {neededState} point") { }
public NoPoint(CellState neededState, System.Exception inner) : base($"The board doesn't contain any {neededState} point", inner) { }
protected NoPoint(
System.Runtime.Serialization.SerializationInfo info,
System.Runtime.Serialization.StreamingContext context) : base(info, context) { }
}
}
/*

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