kbruen/ai-project-idastar
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Forgot minor things about IDA*

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Minor things like avoiding obstacles...
This commit is contained in:
Kenneth Bruen 2021-12-02 00:04:10 +02:00
parent f23c53fc82
commit 6e0bb36132
Signed by: kbruen
GPG key ID: C1980A470C3EE5B1
1 changed files with 13 additions and 0 deletions
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13
IDAstar.cs
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@ -179,13 +179,26 @@ namespace IdaStar
if (!neighbour.IsInsideBox(_board.Count, _board[0].Count)) {
continue;
}
if (_board[neighbour.Row][neighbour.Column] == CellState.OBSTACLE) {
continue;
}
if (_board[neighbour.Row][neighbour.Column] == CellState.EMPTY) {
_board[neighbour.Row][neighbour.Column] = CellState.PATH;
}
AlgorithmStep?.Invoke(this);
var neighbourF = search(neighbour, cost + increment, threshold);
if (neighbourF < min) {
min = neighbourF;
}
if (min == zero) {
break;
}
if (_board[neighbour.Row][neighbour.Column] == CellState.PATH) {
_board[neighbour.Row][neighbour.Column] = CellState.EMPTY;
}
}
return min;