A library for solving mazes.
Lees_Algorithm.cpp@0:dddf6e50f1e7, 2011-06-24 (annotated)
- Committer:
- Pinski1
- Date:
- Fri Jun 24 22:37:49 2011 +0000
- Revision:
- 0:dddf6e50f1e7
- Child:
- 1:80b73beb7742
Initial one, dirty!
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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Pinski1 | 0:dddf6e50f1e7 | 1 | #include "Lees_Algorithm.h" |
Pinski1 | 0:dddf6e50f1e7 | 2 | #include "mbed.h" |
Pinski1 | 0:dddf6e50f1e7 | 3 | |
Pinski1 | 0:dddf6e50f1e7 | 4 | Lees_Algorithm::Lees_Algorithm(unsigned char size_): mazeSize(size_) { |
Pinski1 | 0:dddf6e50f1e7 | 5 | |
Pinski1 | 0:dddf6e50f1e7 | 6 | map = new _cell*[mazeSize]; |
Pinski1 | 0:dddf6e50f1e7 | 7 | for(int i = 0; i < mazeSize; i++) |
Pinski1 | 0:dddf6e50f1e7 | 8 | { |
Pinski1 | 0:dddf6e50f1e7 | 9 | map[i] = new _cell[mazeSize]; |
Pinski1 | 0:dddf6e50f1e7 | 10 | } |
Pinski1 | 0:dddf6e50f1e7 | 11 | |
Pinski1 | 0:dddf6e50f1e7 | 12 | map[0][0].weight = 0; |
Pinski1 | 0:dddf6e50f1e7 | 13 | map[0][0].weight -= 1; |
Pinski1 | 0:dddf6e50f1e7 | 14 | maxWeight = map[0][0].weight; |
Pinski1 | 0:dddf6e50f1e7 | 15 | |
Pinski1 | 0:dddf6e50f1e7 | 16 | clearWeights(); |
Pinski1 | 0:dddf6e50f1e7 | 17 | |
Pinski1 | 0:dddf6e50f1e7 | 18 | for(int i = 0; i < mazeSize; i++) |
Pinski1 | 0:dddf6e50f1e7 | 19 | { |
Pinski1 | 0:dddf6e50f1e7 | 20 | for(int j = 0; j < mazeSize; j++) |
Pinski1 | 0:dddf6e50f1e7 | 21 | { |
Pinski1 | 0:dddf6e50f1e7 | 22 | if(i == 0) map[0][j].north = true; |
Pinski1 | 0:dddf6e50f1e7 | 23 | else map[i][j].north = false; |
Pinski1 | 0:dddf6e50f1e7 | 24 | if(j == 0) map[i][0].west = true; |
Pinski1 | 0:dddf6e50f1e7 | 25 | else map[i][j].west = false; |
Pinski1 | 0:dddf6e50f1e7 | 26 | } |
Pinski1 | 0:dddf6e50f1e7 | 27 | } |
Pinski1 | 0:dddf6e50f1e7 | 28 | |
Pinski1 | 0:dddf6e50f1e7 | 29 | nextRead = 0; |
Pinski1 | 0:dddf6e50f1e7 | 30 | nextWrite = 0; |
Pinski1 | 0:dddf6e50f1e7 | 31 | stackSize = 0; |
Pinski1 | 0:dddf6e50f1e7 | 32 | |
Pinski1 | 0:dddf6e50f1e7 | 33 | return; |
Pinski1 | 0:dddf6e50f1e7 | 34 | } |
Pinski1 | 0:dddf6e50f1e7 | 35 | |
Pinski1 | 0:dddf6e50f1e7 | 36 | Lees_Algorithm::~Lees_Algorithm(void) { |
Pinski1 | 0:dddf6e50f1e7 | 37 | for(int i = 0; i < mazeSize; i++) |
Pinski1 | 0:dddf6e50f1e7 | 38 | { |
Pinski1 | 0:dddf6e50f1e7 | 39 | delete[] map[i]; |
Pinski1 | 0:dddf6e50f1e7 | 40 | } |
Pinski1 | 0:dddf6e50f1e7 | 41 | delete[] map; |
Pinski1 | 0:dddf6e50f1e7 | 42 | } |
Pinski1 | 0:dddf6e50f1e7 | 43 | |
Pinski1 | 0:dddf6e50f1e7 | 44 | |
Pinski1 | 0:dddf6e50f1e7 | 45 | void Lees_Algorithm::updateMap(_location position, bool wNorth, bool wWest, bool wSouth, bool wEast) { |
Pinski1 | 0:dddf6e50f1e7 | 46 | _location buffer, newLoc; |
Pinski1 | 0:dddf6e50f1e7 | 47 | unsigned char minimumWeight; |
Pinski1 | 0:dddf6e50f1e7 | 48 | |
Pinski1 | 0:dddf6e50f1e7 | 49 | // copy new walls to database |
Pinski1 | 0:dddf6e50f1e7 | 50 | if(position.x == 0) wWest = true; // force some walls to true |
Pinski1 | 0:dddf6e50f1e7 | 51 | if(position.y == 0) wNorth = true; |
Pinski1 | 0:dddf6e50f1e7 | 52 | if(position.x == (mazeSize - 1)) wEast = true; |
Pinski1 | 0:dddf6e50f1e7 | 53 | if(position.y == (mazeSize - 1)) wSouth = true; |
Pinski1 | 0:dddf6e50f1e7 | 54 | |
Pinski1 | 0:dddf6e50f1e7 | 55 | map[position.y][position.x].north = wNorth; |
Pinski1 | 0:dddf6e50f1e7 | 56 | map[position.y][position.x].west = wWest; |
Pinski1 | 0:dddf6e50f1e7 | 57 | map[((position.y + 1) % mazeSize)][position.x].north = wSouth; |
Pinski1 | 0:dddf6e50f1e7 | 58 | map[position.y][((position.x + 1) % mazeSize)].west = wEast; |
Pinski1 | 0:dddf6e50f1e7 | 59 | |
Pinski1 | 0:dddf6e50f1e7 | 60 | // run lees algorthim |
Pinski1 | 0:dddf6e50f1e7 | 61 | push(position); |
Pinski1 | 0:dddf6e50f1e7 | 62 | |
Pinski1 | 0:dddf6e50f1e7 | 63 | while(stackSize > 0) |
Pinski1 | 0:dddf6e50f1e7 | 64 | { |
Pinski1 | 0:dddf6e50f1e7 | 65 | buffer = pull(); |
Pinski1 | 0:dddf6e50f1e7 | 66 | minimumWeight = 255; |
Pinski1 | 0:dddf6e50f1e7 | 67 | |
Pinski1 | 0:dddf6e50f1e7 | 68 | if(!map[buffer.y][buffer.x].north && map[(buffer.y - 1) % mazeSize][buffer.x].weight < minimumWeight) minimumWeight = map[(buffer.y - 1) % mazeSize][buffer.x].weight; |
Pinski1 | 0:dddf6e50f1e7 | 69 | if(!map[buffer.y][buffer.x].west && map[buffer.y][(buffer.x - 1) % mazeSize].weight < minimumWeight) minimumWeight = map[buffer.y][(buffer.x - 1) % mazeSize].weight; |
Pinski1 | 0:dddf6e50f1e7 | 70 | if(!map[(buffer.y + 1) % mazeSize][buffer.x].north && map[(buffer.y + 1) % mazeSize][buffer.x].weight < minimumWeight) minimumWeight = map[(buffer.y + 1) % mazeSize][buffer.x].weight; |
Pinski1 | 0:dddf6e50f1e7 | 71 | if(!map[buffer.y][(buffer.x + 1) % mazeSize].west && map[buffer.y][(buffer.x + 1) % mazeSize].weight < minimumWeight) minimumWeight = map[buffer.y][(buffer.x + 1) % mazeSize].weight; |
Pinski1 | 0:dddf6e50f1e7 | 72 | |
Pinski1 | 0:dddf6e50f1e7 | 73 | if(map[buffer.y][buffer.x].weight != (minimumWeight + 1)) |
Pinski1 | 0:dddf6e50f1e7 | 74 | { |
Pinski1 | 0:dddf6e50f1e7 | 75 | if(map[buffer.y][buffer.x].weight != 0) map[buffer.y][buffer.x].weight = minimumWeight + 1; |
Pinski1 | 0:dddf6e50f1e7 | 76 | |
Pinski1 | 0:dddf6e50f1e7 | 77 | if(map[buffer.y][buffer.x].north == false) |
Pinski1 | 0:dddf6e50f1e7 | 78 | { |
Pinski1 | 0:dddf6e50f1e7 | 79 | newLoc.y = buffer.y - 1; |
Pinski1 | 0:dddf6e50f1e7 | 80 | newLoc.x = buffer.x; |
Pinski1 | 0:dddf6e50f1e7 | 81 | push(newLoc); |
Pinski1 | 0:dddf6e50f1e7 | 82 | } |
Pinski1 | 0:dddf6e50f1e7 | 83 | if(map[buffer.y][buffer.x].west == false) |
Pinski1 | 0:dddf6e50f1e7 | 84 | { |
Pinski1 | 0:dddf6e50f1e7 | 85 | newLoc.y = buffer.y; |
Pinski1 | 0:dddf6e50f1e7 | 86 | newLoc.x = buffer.x - 1; |
Pinski1 | 0:dddf6e50f1e7 | 87 | push(newLoc); |
Pinski1 | 0:dddf6e50f1e7 | 88 | } |
Pinski1 | 0:dddf6e50f1e7 | 89 | if(map[(buffer.y + 1) % mazeSize][buffer.x].north == false) |
Pinski1 | 0:dddf6e50f1e7 | 90 | { |
Pinski1 | 0:dddf6e50f1e7 | 91 | newLoc.y = (buffer.y + 1) % mazeSize; |
Pinski1 | 0:dddf6e50f1e7 | 92 | newLoc.x = buffer.x; |
Pinski1 | 0:dddf6e50f1e7 | 93 | push(newLoc); |
Pinski1 | 0:dddf6e50f1e7 | 94 | } |
Pinski1 | 0:dddf6e50f1e7 | 95 | if(map[buffer.y][(buffer.x + 1) % mazeSize].west == false) |
Pinski1 | 0:dddf6e50f1e7 | 96 | { |
Pinski1 | 0:dddf6e50f1e7 | 97 | newLoc.y = buffer.y; |
Pinski1 | 0:dddf6e50f1e7 | 98 | newLoc.x = (buffer.x + 1) % mazeSize; |
Pinski1 | 0:dddf6e50f1e7 | 99 | push(newLoc); |
Pinski1 | 0:dddf6e50f1e7 | 100 | } |
Pinski1 | 0:dddf6e50f1e7 | 101 | } |
Pinski1 | 0:dddf6e50f1e7 | 102 | } |
Pinski1 | 0:dddf6e50f1e7 | 103 | |
Pinski1 | 0:dddf6e50f1e7 | 104 | return; |
Pinski1 | 0:dddf6e50f1e7 | 105 | } |
Pinski1 | 0:dddf6e50f1e7 | 106 | |
Pinski1 | 0:dddf6e50f1e7 | 107 | char Lees_Algorithm::getDirection(_location position) { |
Pinski1 | 0:dddf6e50f1e7 | 108 | char buffer; |
Pinski1 | 0:dddf6e50f1e7 | 109 | return buffer; |
Pinski1 | 0:dddf6e50f1e7 | 110 | } |
Pinski1 | 0:dddf6e50f1e7 | 111 | |
Pinski1 | 0:dddf6e50f1e7 | 112 | void Lees_Algorithm::initialFill(void) { |
Pinski1 | 0:dddf6e50f1e7 | 113 | |
Pinski1 | 0:dddf6e50f1e7 | 114 | int i,j; |
Pinski1 | 0:dddf6e50f1e7 | 115 | bool finished = false; |
Pinski1 | 0:dddf6e50f1e7 | 116 | |
Pinski1 | 0:dddf6e50f1e7 | 117 | while(finished == false) |
Pinski1 | 0:dddf6e50f1e7 | 118 | { |
Pinski1 | 0:dddf6e50f1e7 | 119 | |
Pinski1 | 0:dddf6e50f1e7 | 120 | for(i = 0; i < mazeSize; i++) |
Pinski1 | 0:dddf6e50f1e7 | 121 | { |
Pinski1 | 0:dddf6e50f1e7 | 122 | for(j = 0; j < mazeSize; j++) |
Pinski1 | 0:dddf6e50f1e7 | 123 | { |
Pinski1 | 0:dddf6e50f1e7 | 124 | if(map[i][j].weight == 0) |
Pinski1 | 0:dddf6e50f1e7 | 125 | { |
Pinski1 | 0:dddf6e50f1e7 | 126 | for(int k = j - 1; k >= 0; k--) |
Pinski1 | 0:dddf6e50f1e7 | 127 | { |
Pinski1 | 0:dddf6e50f1e7 | 128 | if(map[i][k].weight != 0) map[i][k].weight = map[i][k+1].weight + 1; |
Pinski1 | 0:dddf6e50f1e7 | 129 | } |
Pinski1 | 0:dddf6e50f1e7 | 130 | |
Pinski1 | 0:dddf6e50f1e7 | 131 | for(int k = j + 1; k < mazeSize; k++) |
Pinski1 | 0:dddf6e50f1e7 | 132 | { |
Pinski1 | 0:dddf6e50f1e7 | 133 | if(map[i][k].weight != 0) map[i][k].weight = map[i][k-1].weight + 1; |
Pinski1 | 0:dddf6e50f1e7 | 134 | } |
Pinski1 | 0:dddf6e50f1e7 | 135 | } |
Pinski1 | 0:dddf6e50f1e7 | 136 | if(i == (mazeSize - 1) && j == (mazeSize -1)) finished = true; |
Pinski1 | 0:dddf6e50f1e7 | 137 | } |
Pinski1 | 0:dddf6e50f1e7 | 138 | } |
Pinski1 | 0:dddf6e50f1e7 | 139 | } |
Pinski1 | 0:dddf6e50f1e7 | 140 | |
Pinski1 | 0:dddf6e50f1e7 | 141 | for(int i = 0; i < mazeSize; i++) |
Pinski1 | 0:dddf6e50f1e7 | 142 | { |
Pinski1 | 0:dddf6e50f1e7 | 143 | if(map[i][0].weight < maxWeight) |
Pinski1 | 0:dddf6e50f1e7 | 144 | { |
Pinski1 | 0:dddf6e50f1e7 | 145 | for(int k = i - 1; k >= 0; k--) |
Pinski1 | 0:dddf6e50f1e7 | 146 | { |
Pinski1 | 0:dddf6e50f1e7 | 147 | if(map[k][0].weight == maxWeight) |
Pinski1 | 0:dddf6e50f1e7 | 148 | { |
Pinski1 | 0:dddf6e50f1e7 | 149 | for(int j = 0; j < mazeSize; j++) |
Pinski1 | 0:dddf6e50f1e7 | 150 | { |
Pinski1 | 0:dddf6e50f1e7 | 151 | map[k][j].weight = map[k+1][j].weight + 1; |
Pinski1 | 0:dddf6e50f1e7 | 152 | } |
Pinski1 | 0:dddf6e50f1e7 | 153 | } |
Pinski1 | 0:dddf6e50f1e7 | 154 | } |
Pinski1 | 0:dddf6e50f1e7 | 155 | for(int k = i + 1; k < mazeSize; k++) |
Pinski1 | 0:dddf6e50f1e7 | 156 | { |
Pinski1 | 0:dddf6e50f1e7 | 157 | if(map[k][0].weight == maxWeight) |
Pinski1 | 0:dddf6e50f1e7 | 158 | { |
Pinski1 | 0:dddf6e50f1e7 | 159 | for(int j = 0; j < mazeSize; j++) |
Pinski1 | 0:dddf6e50f1e7 | 160 | { |
Pinski1 | 0:dddf6e50f1e7 | 161 | map[k][j].weight = map[k-1][j].weight + 1; |
Pinski1 | 0:dddf6e50f1e7 | 162 | } |
Pinski1 | 0:dddf6e50f1e7 | 163 | } |
Pinski1 | 0:dddf6e50f1e7 | 164 | } |
Pinski1 | 0:dddf6e50f1e7 | 165 | } |
Pinski1 | 0:dddf6e50f1e7 | 166 | } |
Pinski1 | 0:dddf6e50f1e7 | 167 | |
Pinski1 | 0:dddf6e50f1e7 | 168 | |
Pinski1 | 0:dddf6e50f1e7 | 169 | return; |
Pinski1 | 0:dddf6e50f1e7 | 170 | } |
Pinski1 | 0:dddf6e50f1e7 | 171 | |
Pinski1 | 0:dddf6e50f1e7 | 172 | void Lees_Algorithm::printMaze(Serial output) { |
Pinski1 | 0:dddf6e50f1e7 | 173 | |
Pinski1 | 0:dddf6e50f1e7 | 174 | for(int i = 0; i < mazeSize; i ++) |
Pinski1 | 0:dddf6e50f1e7 | 175 | { |
Pinski1 | 0:dddf6e50f1e7 | 176 | for(int j = 0; j < mazeSize; j++) |
Pinski1 | 0:dddf6e50f1e7 | 177 | { |
Pinski1 | 0:dddf6e50f1e7 | 178 | if(map[i][j].north == true) output.printf("+---"); |
Pinski1 | 0:dddf6e50f1e7 | 179 | else output.printf("+ "); |
Pinski1 | 0:dddf6e50f1e7 | 180 | } |
Pinski1 | 0:dddf6e50f1e7 | 181 | output.printf("+\r\n"); |
Pinski1 | 0:dddf6e50f1e7 | 182 | |
Pinski1 | 0:dddf6e50f1e7 | 183 | for(int j = 0; j < mazeSize; j++) |
Pinski1 | 0:dddf6e50f1e7 | 184 | { |
Pinski1 | 0:dddf6e50f1e7 | 185 | if(map[i][j].west == true) output.printf("|"); |
Pinski1 | 0:dddf6e50f1e7 | 186 | else output.printf(" "); |
Pinski1 | 0:dddf6e50f1e7 | 187 | output.printf("%3i", map[i][j].weight); |
Pinski1 | 0:dddf6e50f1e7 | 188 | } |
Pinski1 | 0:dddf6e50f1e7 | 189 | if(map[i][0].west == true) output.printf("|\r\n"); |
Pinski1 | 0:dddf6e50f1e7 | 190 | else output.printf(" \r\n"); |
Pinski1 | 0:dddf6e50f1e7 | 191 | } |
Pinski1 | 0:dddf6e50f1e7 | 192 | for(int j = 0; j < mazeSize; j ++) |
Pinski1 | 0:dddf6e50f1e7 | 193 | { |
Pinski1 | 0:dddf6e50f1e7 | 194 | if(map[0][j].north == 1) output.printf("+---"); |
Pinski1 | 0:dddf6e50f1e7 | 195 | else output.printf("+ "); |
Pinski1 | 0:dddf6e50f1e7 | 196 | } |
Pinski1 | 0:dddf6e50f1e7 | 197 | output.printf("+\r\n"); |
Pinski1 | 0:dddf6e50f1e7 | 198 | |
Pinski1 | 0:dddf6e50f1e7 | 199 | return; |
Pinski1 | 0:dddf6e50f1e7 | 200 | } |
Pinski1 | 0:dddf6e50f1e7 | 201 | |
Pinski1 | 0:dddf6e50f1e7 | 202 | void Lees_Algorithm::setDestination(_location target) { |
Pinski1 | 0:dddf6e50f1e7 | 203 | map[target.y][target.x].weight = 0; |
Pinski1 | 0:dddf6e50f1e7 | 204 | } |
Pinski1 | 0:dddf6e50f1e7 | 205 | |
Pinski1 | 0:dddf6e50f1e7 | 206 | void Lees_Algorithm::clearWeights(void) { |
Pinski1 | 0:dddf6e50f1e7 | 207 | for (int j = 0; j < mazeSize; j++) |
Pinski1 | 0:dddf6e50f1e7 | 208 | { |
Pinski1 | 0:dddf6e50f1e7 | 209 | for (int i = 0; i < mazeSize; i++) |
Pinski1 | 0:dddf6e50f1e7 | 210 | { |
Pinski1 | 0:dddf6e50f1e7 | 211 | //map[0][0].weight = 0; |
Pinski1 | 0:dddf6e50f1e7 | 212 | //map[0][0].weight -= 1; // should auto-set to 255 |
Pinski1 | 0:dddf6e50f1e7 | 213 | map[j][i].weight = maxWeight; |
Pinski1 | 0:dddf6e50f1e7 | 214 | } |
Pinski1 | 0:dddf6e50f1e7 | 215 | } |
Pinski1 | 0:dddf6e50f1e7 | 216 | return; |
Pinski1 | 0:dddf6e50f1e7 | 217 | } |