From 34128e3ac21c11424c188e16d276ada56a03fe45 Mon Sep 17 00:00:00 2001
From: PrinzEugen7 <nsi05162@pooae.com>
Date: Sun, 4 Oct 2015 21:33:06 +0900
Subject: [PATCH] Delete astar.cpp

---
 SearchRoute/Astar/Cpp/astar.cpp | 279 --------------------------------
 1 file changed, 279 deletions(-)
 delete mode 100644 SearchRoute/Astar/Cpp/astar.cpp

diff --git a/SearchRoute/Astar/Cpp/astar.cpp b/SearchRoute/Astar/Cpp/astar.cpp
deleted file mode 100644
index 007af3a..0000000
--- a/SearchRoute/Astar/Cpp/astar.cpp
+++ /dev/null
@@ -1,279 +0,0 @@
-#include <iostream>
-#include <iomanip>
-#include <queue>
-#include <string>
-#include <math.h>
-#include <ctime>
-using namespace std;
-
-const int n = 60; // horizontal size of the map
-const int m = 60; // vertical size size of the map
-static int map[n][m];
-static int closed_nodes_map[n][m]; // map of closed (tried-out) nodes
-static int open_nodes_map[n][m]; // map of open (not-yet-tried) nodes
-static int dir_map[n][m]; // map of directions
-const int dir = 8; // number of possible directions to go at any position
-static int dx[dir] = { 1, 1, 0, -1, -1, -1, 0, 1 };
-static int dy[dir] = { 0, 1, 1, 1, 0, -1, -1, -1 };
-
-class node
-{
-	// current position
-	int xPos;
-	int yPos;
-	// total distance already travelled to reach the node
-	int level;
-	// priority=level+remaining distance estimate
-	int priority;  // smaller: higher priority
-
-public:
-	node(int xp, int yp, int d, int p)
-	{
-		xPos = xp; yPos = yp; level = d; priority = p;
-	}
-
-	int getxPos() const { return xPos; }
-	int getyPos() const { return yPos; }
-	int getLevel() const { return level; }
-	int getPriority() const { return priority; }
-
-	void updatePriority(const int & xDest, const int & yDest)
-	{
-		priority = level + estimate(xDest, yDest) * 10; //A*
-	}
-
-	// give better priority to going strait instead of diagonally
-	void nextLevel(const int & i) // i: direction
-	{
-		level += (dir == 8 ? (i % 2 == 0 ? 10 : 14) : 10);
-	}
-
-	// Estimation function for the remaining distance to the goal.
-	const int & estimate(const int & xDest, const int & yDest) const
-	{
-		static int xd, yd, d;
-		xd = xDest - xPos;
-		yd = yDest - yPos;
-
-		// Euclidian Distance
-		d = static_cast<int>(sqrt(xd*xd + yd*yd));
-		return(d);
-	}
-};
-
-// Determine priority (in the priority queue)
-bool operator<(const node & a, const node & b)
-{
-	return a.getPriority() > b.getPriority();
-}
-
-// A-star algorithm.
-// The route returned is a string of direction digits.
-string pathFind(const int & xStart, const int & yStart,
-	const int & xFinish, const int & yFinish)
-{
-	static priority_queue<node> pq[2]; // list of open (not-yet-tried) nodes
-	static int pqi; // pq index
-	static node* n0;
-	static node* m0;
-	static int i, j, x, y, xdx, ydy;
-	static char c;
-	pqi = 0;
-
-	// reset the node maps
-	for (y = 0; y<m; y++)
-	{
-		for (x = 0; x<n; x++)
-		{
-			closed_nodes_map[x][y] = 0;
-			open_nodes_map[x][y] = 0;
-		}
-	}
-
-	// create the start node and push into list of open nodes
-	n0 = new node(xStart, yStart, 0, 0);
-	n0->updatePriority(xFinish, yFinish);
-	pq[pqi].push(*n0);
-	open_nodes_map[x][y] = n0->getPriority(); // mark it on the open nodes map
-
-	// A* search
-	while (!pq[pqi].empty())
-	{
-		// get the current node w/ the highest priority
-		// from the list of open nodes
-		n0 = new node(pq[pqi].top().getxPos(), pq[pqi].top().getyPos(),
-			pq[pqi].top().getLevel(), pq[pqi].top().getPriority());
-
-		x = n0->getxPos(); y = n0->getyPos();
-
-		pq[pqi].pop(); // remove the node from the open list
-		open_nodes_map[x][y] = 0;
-		// mark it on the closed nodes map
-		closed_nodes_map[x][y] = 1;
-
-		// quit searching when the goal state is reached
-		//if((*n0).estimate(xFinish, yFinish) == 0)
-		if (x == xFinish && y == yFinish)
-		{
-			// generate the path from finish to start
-			// by following the directions
-			string path = "";
-			while (!(x == xStart && y == yStart))
-			{
-				j = dir_map[x][y];
-				c = '0' + (j + dir / 2) % dir;
-				path = c + path;
-				x += dx[j];
-				y += dy[j];
-			}
-
-			// garbage collection
-			delete n0;
-			// empty the leftover nodes
-			while (!pq[pqi].empty()) pq[pqi].pop();
-			return path;
-		}
-
-		// generate moves (child nodes) in all possible directions
-		for (i = 0; i<dir; i++)
-		{
-			xdx = x + dx[i]; ydy = y + dy[i];
-
-			if (!(xdx<0 || xdx>n - 1 || ydy<0 || ydy>m - 1 || map[xdx][ydy] == 1
-				|| closed_nodes_map[xdx][ydy] == 1))
-			{
-				// generate a child node
-				m0 = new node(xdx, ydy, n0->getLevel(),
-					n0->getPriority());
-				m0->nextLevel(i);
-				m0->updatePriority(xFinish, yFinish);
-
-				// if it is not in the open list then add into that
-				if (open_nodes_map[xdx][ydy] == 0)
-				{
-					open_nodes_map[xdx][ydy] = m0->getPriority();
-					pq[pqi].push(*m0);
-					// mark its parent node direction
-					dir_map[xdx][ydy] = (i + dir / 2) % dir;
-				}
-				else if (open_nodes_map[xdx][ydy]>m0->getPriority())
-				{
-					// update the priority info
-					open_nodes_map[xdx][ydy] = m0->getPriority();
-					// update the parent direction info
-					dir_map[xdx][ydy] = (i + dir / 2) % dir;
-
-					// replace the node
-					// by emptying one pq to the other one
-					// except the node to be replaced will be ignored
-					// and the new node will be pushed in instead
-					while (!(pq[pqi].top().getxPos() == xdx &&
-						pq[pqi].top().getyPos() == ydy))
-					{
-						pq[1 - pqi].push(pq[pqi].top());
-						pq[pqi].pop();
-					}
-					pq[pqi].pop(); // remove the wanted node
-
-					// empty the larger size pq to the smaller one
-					if (pq[pqi].size()>pq[1 - pqi].size()) pqi = 1 - pqi;
-					while (!pq[pqi].empty())
-					{
-						pq[1 - pqi].push(pq[pqi].top());
-						pq[pqi].pop();
-					}
-					pqi = 1 - pqi;
-					pq[pqi].push(*m0); // add the better node instead
-				}
-				else delete m0; // garbage collection
-			}
-		}
-		delete n0; // garbage collection
-	}
-	return ""; // no route found
-}
-
-int main()
-{
-	srand(time(NULL));
-
-	// create empty map
-	for (int y = 0; y<m; y++)
-	{
-		for (int x = 0; x<n; x++) map[x][y] = 0;
-	}
-
-	// fillout the map matrix with a '+' pattern
-	for (int x = n / 8; x<n * 7 / 8; x++)
-	{
-		map[x][m / 2] = 1;
-	}
-	for (int y = m / 8; y<m * 7 / 8; y++)
-	{
-		map[n / 2][y] = 1;
-	}
-
-	// randomly select start and finish locations
-	int xA, yA, xB, yB;
-	switch (rand() % 8)
-	{
-	case 0: xA = 0; yA = 0; xB = n - 1; yB = m - 1; break;
-	case 1: xA = 0; yA = m - 1; xB = n - 1; yB = 0; break;
-	case 2: xA = n / 2 - 1; yA = m / 2 - 1; xB = n / 2 + 1; yB = m / 2 + 1; break;
-	case 3: xA = n / 2 - 1; yA = m / 2 + 1; xB = n / 2 + 1; yB = m / 2 - 1; break;
-	case 4: xA = n / 2 - 1; yA = 0; xB = n / 2 + 1; yB = m - 1; break;
-	case 5: xA = n / 2 + 1; yA = m - 1; xB = n / 2 - 1; yB = 0; break;
-	case 6: xA = 0; yA = m / 2 - 1; xB = n - 1; yB = m / 2 + 1; break;
-	case 7: xA = n - 1; yA = m / 2 + 1; xB = 0; yB = m / 2 - 1; break;
-	}
-
-	cout << "Map Size (X,Y): " << n << "," << m << endl;
-	cout << "Start: " << xA << "," << yA << endl;
-	cout << "Finish: " << xB << "," << yB << endl;
-	// get the route
-	clock_t start = clock();
-	string route = pathFind(xA, yA, xB, yB);
-	if (route == "") cout << "An empty route generated!" << endl;
-	clock_t end = clock();
-	double time_elapsed = double(end - start);
-	cout << "Time to calculate the route (ms): " << time_elapsed << endl;
-	cout << "Route:" << endl;
-	cout << route << endl << endl;
-
-	// follow the route on the map and display it 
-	if (route.length()>0)
-	{
-		int j; char c;
-		int x = xA;
-		int y = yA;
-		map[x][y] = 2;
-		for (int i = 0; i<route.length(); i++)
-		{
-			c = route.at(i);
-			j = atoi(&c);
-			x = x + dx[j];
-			y = y + dy[j];
-			map[x][y] = 3;
-		}
-		map[x][y] = 4;
-
-		// display the map with the route
-		for (int y = 0; y<m; y++)
-		{
-			for (int x = 0; x<n; x++)
-				if (map[x][y] == 0)
-					cout << ".";
-				else if (map[x][y] == 1)
-					cout << "O"; //obstacle
-				else if (map[x][y] == 2)
-					cout << "S"; //start
-				else if (map[x][y] == 3)
-					cout << "R"; //route
-				else if (map[x][y] == 4)
-					cout << "F"; //finish
-				cout << endl;
-		}
-	}
-	getchar(); // wait for a (Enter) keypress  
-	return(0);
-}