void find_search(t_group *grp)
{
t_hist *curr;
if (TERM(curs_pos) == 0)
{
display_search(grp, TERM(cmd_save));
REMOVE(&TERM(search));
TERM(search) = SDUP(TERM(cmd_save));
return ;
}
curr = grp->curr_hist == NULL ? grp->hist : grp->curr_hist;
while (curr != NULL)
{
if (ft_strstr(curr->name, TERM(cmd_line)) != NULL)
{
display_search(grp, curr->name);
REMOVE(&TERM(search));
TERM(search) = SDUP(curr->name);
break ;
}
curr = curr->next;
}
curr == NULL ? REMOVE(&TERM(search)) : 0;
}
bool GetPath(void *data, xyLoc s, xyLoc g, std::vector<xyLoc> &path){
/* clear open list */
#ifdef _BUCKET_LIST_H
open_list.Reset();
#elif HEAP2_H
open_list.reset();
open_list.reserve(3000);
#else
open_list.clear();
#endif
/* initialize closed list */
closed_list.resize(map.size());
for( int i=0; i<map.size(); i++){
closed_list[i] = false;
}
/* start location */
start = s;
/* goal location */
goal = g;
m_currentIteration++;
/* start state */
State* start = (State*)malloc(sizeof(State));//new State;
#ifdef _SPEEDY_H
start->set_values(distance(s,g),s);
#endif
#ifdef _WASTAR_H
start->set_values(0,distance(s,g),s);
#endif
start->set_parent(NULL);
start->m_iteration = m_currentIteration;
/* push start state */
#ifdef _BUCKET_LIST_H
open_list.Push(start);
#elif HEAP2_H
open_list.add(start);
#else
open_list.push_back(start);
std::push_heap(open_list.begin(),open_list.end(),StateComparator());
#endif
/* Speedy */
#ifdef _BUCKET_LIST_H
while( !open_list.Empty() ){
#else
while( !open_list.empty() ){
#endif
#ifdef _BUCKET_LIST_H
State* curr = open_list.Pop();
#elif HEAP2_H
State* curr = open_list.remove();
#else
std::pop_heap (open_list.begin(),open_list.end(),StateComparator());
State* curr = open_list.back();
open_list.pop_back();
#endif
if( FindGoal(curr) ){
return_path(curr, path);
#ifdef DEBUG
display_search();
#endif
break;
}
GetSuccessors(curr->pos(), succ);
for( int i=0; i<succ.size(); i++){
State* nb = (State*)malloc(sizeof(State));//new State;
xyLoc pos = succ[i];
#ifdef _SPEEDY_H
/* estimate total number of moves to go */
nb->set_values(distance(pos,g),pos);
#endif
#ifdef _WASTAR_H
/* octile distance heuristic */
if( succ[i].x == curr->pos().x || succ[i].y == curr->pos().y ){
nb->set_values(curr->g()+1.0f,distance(pos,g),pos);
}
else{
nb->set_values(curr->g()+sqrt(2),distance(pos,g),pos);
}
#endif
nb->set_parent(curr);
nb->m_iteration = m_currentIteration;
int index = GetIndex(succ[i]);
if( !closed_list[index] && map[index] ){
closed_list[GetIndex(pos)] = true; //add state to closed list
#ifdef _BUCKET_LIST_H
open_list.Push(nb);
#elif HEAP2_H
open_list.add(nb);
#else
open_list.push_back(nb);
std::push_heap(open_list.begin(),open_list.end(),StateComparator());
#endif
}
}
}
return true;
}
