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gpn-maze-bot
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use A*

master
Thomas Lindner 2022-05-20 22:14:24 +02:00
parent de5b18ff52
commit eaff27fda3
1 changed files with 15 additions and 9 deletions
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24
src/main.cc
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@ -10,6 +10,7 @@
#include <boost/asio/streambuf.hpp>
#include <boost/asio/use_awaitable.hpp>
#include <boost/asio/write.hpp>
#include <cmath>
#include <iostream>
#include <map>
#include <random>
@ -59,6 +60,7 @@ class Bot {
asio::awaitable<void> Protocol();
asio::awaitable<void> Join();
asio::awaitable<bool> Move(Direction dir);
unsigned AStarHeuristic(std::pair<int, int> position);
unsigned ShortestPath(int x, int y);
asio::awaitable<void> ChooseMove();
@ -177,8 +179,12 @@ asio::awaitable<bool> Bot::Move(Direction direction) {
co_return true;
}
unsigned Bot::AStarHeuristic(std::pair<int, int> position) {
return std::abs(position.first - goal_x) + std::abs(position.second - goal_y);
}
unsigned Bot::ShortestPath(int x, int y) {
// Djikstra
// A*
std::set<std::pair<int, int>> visited;
std::multimap<unsigned, std::pair<int, int>> queue;
auto goal = std::make_pair(goal_x, goal_y);
@ -197,23 +203,23 @@ unsigned Bot::ShortestPath(int x, int y) {
}
if (!(known_map[position] & static_cast<unsigned>(Direction::LEFT)) &&
position.first > 0) {
queue.emplace(distance + 1,
std::make_pair(position.first - 1, position.second));
auto pos = std::make_pair(position.first - 1, position.second);
queue.emplace(distance + 1 + AStarHeuristic(pos), pos);
}
if (!(known_map[position] & static_cast<unsigned>(Direction::RIGHT)) &&
position.first < field_width) {
queue.emplace(distance + 1,
std::make_pair(position.first + 1, position.second));
auto pos = std::make_pair(position.first + 1, position.second);
queue.emplace(distance + 1 + AStarHeuristic(pos), pos);
}
if (!(known_map[position] & static_cast<unsigned>(Direction::UP)) &&
position.second > 0) {
queue.emplace(distance + 1,
std::make_pair(position.first, position.second - 1));
auto pos = std::make_pair(position.first, position.second - 1);
queue.emplace(distance + 1 + AStarHeuristic(pos), pos);
}
if (!(known_map[position] & static_cast<unsigned>(Direction::DOWN)) &&
position.second < field_height) {
queue.emplace(distance + 1,
std::make_pair(position.first, position.second + 1));
auto pos = std::make_pair(position.first, position.second + 1);
queue.emplace(distance + 1 + AStarHeuristic(pos), pos);
}
visited.emplace(position);
}