From aa72b13a484e9994e34b23711b787e5fa57a7a50 Mon Sep 17 00:00:00 2001
From: igoroogle <igor.glushkov26@yandex.ru>
Date: Thu, 14 Feb 2019 11:29:13 +0300
Subject: [PATCH] get old ver with table

---
 ASearch               |  Bin 167320 -> 161792 bytes
 ASearch.pro.user      |   26 +-
 Makefile              |    2 +-
 astar.o               |  Bin 1928 -> 1892 bytes
 dijkstra.o            |  Bin 1508 -> 1592 bytes
 example_log.xml       | 1020 ++++++++++++++++++++++++++++-------------
 isearch.cpp           |  154 ++-----
 isearch.h             |   23 +-
 isearch.o             |  Bin 14720 -> 11312 bytes
 mission.o             |  Bin 12488 -> 12488 bytes
 pathPlanning.pro.user |   61 +--
 11 files changed, 786 insertions(+), 500 deletions(-)

diff --git a/ASearch b/ASearch
index 9b54f4d1ff7121636aaa11722ac577ca9341ddb0..427c00edebfcf20c7cf2eb90570f577de1496e9c 100644
GIT binary patch
delta 58170
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diff --git a/ASearch.pro.user b/ASearch.pro.user
index 4cdd8ec..8a18a88 100644
--- a/ASearch.pro.user
+++ b/ASearch.pro.user
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 4.8.0, 2019-02-14T10:00:11. -->
+<!-- Written by QtCreator 4.8.0, 2019-02-14T09:40:40. -->
 <qtcreator>
  <data>
   <variable>EnvironmentId</variable>
@@ -62,14 +62,14 @@
  <data>
   <variable>ProjectExplorer.Project.Target.0</variable>
   <valuemap type="QVariantMap">
-   <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Без имени</value>
-   <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Без имени</value>
-   <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">{c76b6db1-cca5-4043-b75c-8bbb41ff970d}</value>
+   <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Desktop Qt 5.12.0 clang 64bit</value>
+   <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Desktop Qt 5.12.0 clang 64bit</value>
+   <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">qt.qt5.5120.clang_64_kit</value>
    <value type="int" key="ProjectExplorer.Target.ActiveBuildConfiguration">0</value>
    <value type="int" key="ProjectExplorer.Target.ActiveDeployConfiguration">0</value>
    <value type="int" key="ProjectExplorer.Target.ActiveRunConfiguration">0</value>
    <valuemap type="QVariantMap" key="ProjectExplorer.Target.BuildConfiguration.0">
-    <value type="QString" key="ProjectExplorer.BuildConfiguration.BuildDirectory">/Users/Igor/Documents/pathPlanning/proj3/build-ASearch-unknown-Debug</value>
+    <value type="QString" key="ProjectExplorer.BuildConfiguration.BuildDirectory">/Users/Igor/Documents/pathPlanning/proj1/build-ASearch-Desktop_Qt_5_12_0_clang_64bit-Debug</value>
     <valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
      <valuemap type="QVariantMap" key="ProjectExplorer.BuildStepList.Step.0">
       <value type="bool" key="ProjectExplorer.BuildStep.Enabled">true</value>
@@ -125,7 +125,7 @@
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    </valuemap>
    <valuemap type="QVariantMap" key="ProjectExplorer.Target.BuildConfiguration.1">
-    <value type="QString" key="ProjectExplorer.BuildConfiguration.BuildDirectory">/Users/Igor/Documents/pathPlanning/proj3/build-ASearch-unknown-Release</value>
+    <value type="QString" key="ProjectExplorer.BuildConfiguration.BuildDirectory">/Users/Igor/Documents/pathPlanning/proj1/build-ASearch-Desktop_Qt_5_12_0_clang_64bit-Release</value>
     <valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
      <valuemap type="QVariantMap" key="ProjectExplorer.BuildStepList.Step.0">
       <value type="bool" key="ProjectExplorer.BuildStep.Enabled">true</value>
@@ -181,7 +181,7 @@
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    </valuemap>
    <valuemap type="QVariantMap" key="ProjectExplorer.Target.BuildConfiguration.2">
-    <value type="QString" key="ProjectExplorer.BuildConfiguration.BuildDirectory">/Users/Igor/Documents/pathPlanning/proj3/build-ASearch-unknown-Profile</value>
+    <value type="QString" key="ProjectExplorer.BuildConfiguration.BuildDirectory">/Users/Igor/Documents/pathPlanning/proj1/build-ASearch-Desktop_Qt_5_12_0_clang_64bit-Profile</value>
     <valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
      <valuemap type="QVariantMap" key="ProjectExplorer.BuildStepList.Step.0">
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@@ -293,19 +293,21 @@
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-    <value type="QString" key="ProjectExplorer.CustomExecutableRunConfiguration.Executable"></value>
-    <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Особая программа</value>
-    <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
-    <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.CustomExecutableRunConfiguration</value>
+    <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">ASearch</value>
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         </hplevel>
     </log>
 </root>
diff --git a/isearch.cpp b/isearch.cpp
index d1023fe..5926ff9 100644
--- a/isearch.cpp
+++ b/isearch.cpp
@@ -14,7 +14,6 @@ SearchResult ISearch::startSearch(ILogger *Logger, const Map &map, const Environ
     auto start = std::chrono::system_clock::now();
     sresult.nodescreated = 0;
     sresult.numberofsteps = 0;
-    sresult.pathfound = false;
     /*sresult.pathfound = ;
     sresult.nodescreated =  ;
     sresult.numberofsteps = ;
@@ -29,40 +28,16 @@ SearchResult ISearch::startSearch(ILogger *Logger, const Map &map, const Environ
         std::cout << '\n';
     }*/
 
-    h = map.getMapHeight();
-    w = map.getMapWidth();
-    openSize = 0;
-    closeSize = 0;
-    //close.assign(h, std::vector<bool>(w));
-    //open.assign(h, std::vector<Node*>(w));
-    close.clear();
-    Node startNode = Node(map.getStart());
-    Node goalNode =  Node(map.getGoal());
-    //open[startNode.i][startNode.j] = new Node(startNode);
-    startNode.H = computeHFromCellToCell(startNode.i, startNode.j, goalNode.i, goalNode.j, options);
-    startNode.F = hweight * startNode.H;
-    addOpen(new Node(startNode));
-
+    int h = map.getMapHeight();
+    int w = map.getMapWidth();
+    close.assign(h, std::vector<bool>(w));
+    open.assign(h, std::vector<Node*>(w));
+    Node startNode(map.getStart());
+    Node goalNode(map.getGoal());
+    open[startNode.i][startNode.j] = new Node(startNode);
     for(;;) { //infinity circle
-        //Node* indPtr = open[goalNode.i][goalNode.j];
-        Node* indPtr = extMin();
-
-        if (indPtr == nullptr) {
-            break;
-        }
-
-        if (isClosed(indPtr)) {
-            delete(indPtr);
-            continue;
-        }
-
-        addClose(indPtr);
-        if ((indPtr->i == goalNode.i) && (indPtr->j == goalNode.j)) {
-            sresult.pathfound = true;
-            break;
-        };
-
-        /*for (int i = 0; i < h; ++i) {
+        Node* indPtr = open[goalNode.i][goalNode.j];
+        for (int i = 0; i < h; ++i) {
             for (int j = 0; j < w; ++j) {
                 ++sresult.numberofsteps;
                 if ((close[i][j]) || (open[i][j] == nullptr)) {
@@ -91,16 +66,16 @@ SearchResult ISearch::startSearch(ILogger *Logger, const Map &map, const Environ
             break;
         }
 
-        close[indPtr->i][indPtr->j] = true;*/
+        close[indPtr->i][indPtr->j] = true;
 
-        auto listSuccessors = findSuccessors(indPtr, map, options);
+        auto listSuccessors = findSuccessors(*indPtr, map, options);
         for (auto cur : listSuccessors) {
-            //++sresult.numberofsteps;
-            /*if (close[cur.i][cur.j]) {
+            ++sresult.numberofsteps;
+            if (close[cur.i][cur.j]) {
                 continue;
-            }*/
+            }
 
-            /*if (open[cur.i][cur.j] == nullptr) {
+            if (open[cur.i][cur.j] == nullptr) {
                 open[cur.i][cur.j] = new Node(cur);
                 open[cur.i][cur.j]->g += open[indPtr->i][indPtr->j]->g;
                 open[cur.i][cur.j]->F = open[cur.i][cur.j]->g;
@@ -109,27 +84,18 @@ SearchResult ISearch::startSearch(ILogger *Logger, const Map &map, const Environ
                 open[cur.i][cur.j]->g = open[indPtr->i][indPtr->j]->F + cur.F;
                 open[cur.i][cur.j]->F = open[cur.i][cur.j]->g;
                 open[cur.i][cur.j]->parent = indPtr;
-            }*/
-
-            addOpen(cur);
+            }
         }
     }
 
-    //std::cout << "somlfjklsd\n";
-
-    //sresult.pathfound = close[goalNode.i][goalNode.j];
-    Node* goalPoint;
-    sresult.numberofsteps = closeSize;
-    sresult.nodescreated = openSize + closeSize;
+    sresult.pathfound = close[goalNode.i][goalNode.j];
     if (sresult.pathfound)
     {
-        goalPoint = close.find(goalNode.i * w + goalNode.j)->second;
-        sresult.pathlength = goalPoint->g;
-        makePrimaryPath(goalPoint);
+        sresult.pathlength = open[goalNode.i][goalNode.j]->F;
+        makePrimaryPath(open[goalNode.i][goalNode.j]);
     } else
     {
         sresult.pathlength = 0;
-        goalPoint = nullptr;
     }
 
     auto end = std::chrono::system_clock::now();
@@ -149,19 +115,18 @@ SearchResult ISearch::startSearch(ILogger *Logger, const Map &map, const Environ
     sresult.hppath = &hppath; //Here is a constant pointer*/
     sresult.lppath = &lppath;
 
-    /*for (int i = 0; i < h; ++i) {
+    for (int i = 0; i < h; ++i) {
         for (int j = 0; j < w; ++j) {
             delete(open[i][j]);
         }
-    }*/
-    cleanMemory();
+    }
 
     return sresult;
 }
 
-std::list<Node*> ISearch::findSuccessors(Node* curNode, const Map &map, const EnvironmentOptions &options)
+std::list<Node> ISearch::findSuccessors(Node curNode, const Map &map, const EnvironmentOptions &options)
 {
-    std::list<Node*> successors;
+    std::list<Node> successors;
     std::vector<int> orient = {-1, 0, 1};
     for (auto cur_i : orient) {
         for (auto cur_j : orient) {
@@ -169,22 +134,22 @@ std::list<Node*> ISearch::findSuccessors(Node* curNode, const Map &map, const En
                 continue;
             }
 
-            if ((map.getValue(curNode->i + cur_i, curNode->j + cur_j)) != CN_GC_NOOBS) { //CN_GC_NOOBS = 0
+            if ((map.getValue(curNode.i + cur_i, curNode.j + cur_j)) != CN_GC_NOOBS) { //CN_GC_NOOBS = 0
                 continue;
             }
 
             if ((cur_i == 0) || (cur_j == 0)) {
-                successors.push_back(new Node(std::make_pair(curNode->i + cur_i, curNode->j + cur_j)));
-                successors.back()->g = 1;
+                successors.push_back(Node(std::make_pair(curNode.i + cur_i, curNode.j + cur_j)));
+                successors.back().g = 1;
             } else {
                 bool flag = false;
                 if (options.allowdiagonal) {
-                    if ((map.getValue(curNode->i + cur_i, curNode->j) == CN_GC_NOOBS)
-                        && (map.getValue(curNode->i, curNode->j + cur_j) == CN_GC_NOOBS)) {
+                    if ((map.getValue(curNode.i + cur_i, curNode.j) == CN_GC_NOOBS)
+                        && (map.getValue(curNode.i, curNode.j + cur_j) == CN_GC_NOOBS)) {
                         flag = true;
                     } else if (options.cutcorners) {
-                        if ((map.getValue(curNode->i + cur_i, curNode->j) == CN_GC_NOOBS)
-                            || (map.getValue(curNode->i, curNode->j + cur_j) == CN_GC_NOOBS)) {
+                        if ((map.getValue(curNode.i + cur_i, curNode.j) == CN_GC_NOOBS)
+                            || (map.getValue(curNode.i, curNode.j + cur_j) == CN_GC_NOOBS)) {
                             flag = true;
                         } else if (options.allowsqueeze) {
                             flag = true;
@@ -193,24 +158,14 @@ std::list<Node*> ISearch::findSuccessors(Node* curNode, const Map &map, const En
                 }
 
                 if (flag) {
-                    successors.push_back(new Node(std::make_pair(curNode->i + cur_i, curNode->j + cur_j)));
-                    successors.back()->g = CN_SQRT_TWO;
+                    successors.push_back(Node(std::make_pair(curNode.i + cur_i, curNode.j + cur_j)));
+                    successors.back().g = CN_SQRT_TWO;
                 } else {
                     continue;
                 }
             }
 
-            if (isClosed(successors.back())) {
-                delete(successors.back());
-                successors.pop_back();
-                continue;
-            }
-
-            successors.back()->g += curNode->g;
-            successors.back()->H
-                = computeHFromCellToCell(successors.back()->i, successors.back()->j, goalNode.i, goalNode.j, options);
-            successors.back()->F = successors.back()->g;
-            successors.back()->parent = curNode;
+            successors.back().F = successors.back().g;
         }
     }
 
@@ -252,46 +207,3 @@ void ISearch::makeSecondaryPath()
         --cur;
     }
 }
-
-void ISearch::addOpen(Node* curNode) {
-    ++openSize;
-    if (breakingties == CN_SP_BT_GMAX) {
-        open.push(std::make_pair(std::make_pair(-(curNode->F), curNode->g), curNode));
-    } else {
-        open.push(std::make_pair(std::make_pair(-(curNode->F), -(curNode->g)), curNode));
-    }
-}
-
-
-
-void ISearch::addClose(Node* curNode) {
-    ++closeSize;
-    close.insert({curNode->i * w + curNode->j, curNode});
-}
-
-
-Node* ISearch::extMin() {
-    if (open.empty()) {
-        return nullptr;
-    }
-
-    --openSize;
-    Node* ans = open.top().second;
-    open.pop();
-    return ans;
-}
-
-bool ISearch::isClosed(Node* curNode) {
-   return (close.find(curNode->i * w + curNode->j) != close.end());
-}
-
-void ISearch::cleanMemory() {
-    for (auto cur : close) {
-        delete(cur.second);
-    }
-
-    while (!open.empty()) {
-        delete(open.top().second);
-        open.pop();
-    }
-}
diff --git a/isearch.h b/isearch.h
index 5eb651e..cd6b064 100644
--- a/isearch.h
+++ b/isearch.h
@@ -3,13 +3,11 @@
 #include "ilogger.h"
 #include "searchresult.h"
 #include "environmentoptions.h"
-#include <queue>
 #include <list>
 #include <vector>
 #include <math.h>
 #include <limits>
 #include <chrono>
-#include <utility>
 
 class ISearch
 {
@@ -39,17 +37,11 @@ class ISearch
         //Start with very simple (and ineffective) structures like list or vector and make it work first
         //and only then begin enhancement!
 
-        virtual double computeHFromCellToCell(int i1, int j1, int i2, int j2, const EnvironmentOptions &options) {
-            return 0;
-        };
 
+
+        virtual double computeHFromCellToCell(int i1, int j1, int i2, int j2, const EnvironmentOptions &options) = 0;
         void makePrimaryPath(Node* curNode);//Makes path using back pointers
         void makeSecondaryPath();//Makes another type of path(sections or points)
-        void addOpen(Node* curNode);
-        void addClose(Node* curNode);
-        Node* extMin();
-        void cleanMemory();
-        bool isClosed(Node* curNode);
         //std::list<Node> findSuccessors(Node curNode, const Map &map, const EnvironmentOptions &options);
         //void makePrimaryPath(Node curNode);//Makes path using back pointers
         //void makeSecondaryPath();//Makes another type of path(sections or points)
@@ -59,14 +51,9 @@ class ISearch
         std::list<Node>                 lppath, hppath;
         double                          hweight;//weight of h-value
         bool                            breakingties;//flag that sets the priority of nodes in addOpen function when their F-values is equal
-        int h, w; //table size
-        Node startNode, goalNode;
-        int openSize, closeSize; //size of open and close nodes
         //need to define open, close;
-        //std::vector<std::vector<bool>> close;
-        //std::vector<std::vector<Node*>> open;
-        std::unordered_map<int, Node*> close;
-        std::priority_queue<std::pair<std::pair<double, double>, Node*>> open;
-        std::list<Node*> findSuccessors(Node* curNode, const Map &map, const EnvironmentOptions &options);
+        std::vector<std::vector<bool>> close;
+        std::vector<std::vector<Node*>> open;
+        virtual std::list<Node> findSuccessors(Node curNode, const Map &map, const EnvironmentOptions &options);
 };
 #endif
diff --git a/isearch.o b/isearch.o
index 8915a2072ef7ea5188691d22843d5e4dae89083e..0617d055eac8dfd6d0a3b21ad74d4df724177895 100644
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diff --git a/mission.o b/mission.o
index 160460e0633c0e1094bbc0d35f4d0f9152b5d6e5..24d9143874408b3843aaad5364b907b97f419cda 100644
GIT binary patch
delta 22
ccmX?+cp`B_DhJa7hRNw1ia=^}7l)k&0AwBqf&c&j

delta 22
ccmX?+cp`B_DhHDU<K%P>MIg1gi^EO>09gqJbN~PV

diff --git a/pathPlanning.pro.user b/pathPlanning.pro.user
index e734538..173eeed 100644
--- a/pathPlanning.pro.user
+++ b/pathPlanning.pro.user
@@ -1,10 +1,10 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 4.8.0, 2019-02-14T09:38:08. -->
+<!-- Written by QtCreator 4.8.0, 2019-02-08T05:21:15. -->
 <qtcreator>
  <data>
   <variable>EnvironmentId</variable>
-  <value type="QByteArray">{d643bef5-2b8f-41af-bc04-2fb0777d6542}</value>
+  <value type="QByteArray">{e883ba02-d6e0-4ea6-ba06-754ec0fccfe6}</value>
  </data>
  <data>
   <variable>ProjectExplorer.Project.ActiveTarget</variable>
@@ -54,22 +54,19 @@
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  <data>
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-   <valuelist type="QVariantList" key="ClangCodeModel.CustomCommandLineKey"/>
-   <value type="bool" key="ClangCodeModel.UseGlobalConfig">true</value>
-  </valuemap>
+  <valuemap type="QVariantMap"/>
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-   <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">qt.qt5.5120.clang_64_kit</value>
+   <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Desktop Qt 5.3 MinGW 32bit</value>
+   <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Desktop Qt 5.3 MinGW 32bit</value>
+   <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">qt.53.win32_mingw482_kit</value>
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    <value type="int" key="ProjectExplorer.Target.ActiveDeployConfiguration">0</value>
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-      <value type="bool" key="QtProjectManager.QMakeBuildStep.UseQtQuickCompiler">true</value>
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-      <value type="bool" key="QtProjectManager.QMakeBuildStep.UseQtQuickCompiler">true</value>
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@@ -293,21 +284,19 @@
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-    <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">pathPlanning</value>
+    <value type="QString" key="ProjectExplorer.CustomExecutableRunConfiguration.Arguments"></value>
+    <value type="QString" key="ProjectExplorer.CustomExecutableRunConfiguration.Executable"></value>
+    <value type="QString" key="ProjectExplorer.CustomExecutableRunConfiguration.WorkingDirectory"></value>
+    <value type="QString" key="ProjectExplorer.CustomExecutableRunConfiguration.WorkingDirectory.default"></value>
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-    <value type="QString" key="Qt4ProjectManager.Qt4RunConfiguration.ProFile">pathPlanning.pro</value>
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+    <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.CustomExecutableRunConfiguration</value>
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@@ -318,10 +307,10 @@
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+  <value type="int">18</value>
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 </qtcreator>