void expandSuccessors(Node c)
{
int i,d,g,h;
Node t;
P_II jp;
V_PII nbs=neighbourPrune(c);
for (i=0; i<nbs.size(); i++)
{
jp=checkJump(nbs[i],c.pos);
if (jp.first != -1)
{
if (mazer.isInVis(jp) == true)
continue;
d=abs(jp.first-c.pos.first)+abs(jp.second-c.pos.second);
g=c.g+d;
if (mazer.isInQue(jp) == false || g < mem_g[jp.first][jp.second])
{
mem_g[jp.first][jp.second]=g;
t.g=g;
h=abs(jp.first-end.first)+abs(jp.second-end.second);
t.f=t.g+h;
t.pos=jp;
// printf("%d %d %d %d %d %d\n",t.pos.first,t.pos.second,t.parent.first,t.parent.second,c.pos.first,c.pos.second);
t.parent=c.pos;
if (mazer.isInQue(jp) == false)
{
path[jp.first][jp.second]=c.pos;
pri_List.push(t);
mazer.pushQue(t.pos);
}
else
{
pri_List.update(t);
}
}
}
}
}
int findPath()
{
init();
Node s=Node(sta,0,0,make_pair(-1,-1)),tmp;
pri_List.push(s);
mazer.pushQue(s.pos);
while (!pri_List.empty())
{
tmp=pri_List.top();
printf("%d %d %d %d %d\n",tmp.pos.first,tmp.pos.second,tmp.parent.first,tmp.parent.second,tmp.f);
mazer.pushVis(tmp.pos);
pri_List.pop();
if (tmp.pos == end)
{
backtrace(end.first,end.second);
return 1;
}
expandSuccessors(tmp);
}
return 0;
}
int main()
{
ifstream fin1("fhb.txt");
// Allocate memory on the heap due to large
// data set
double *dptr = new double[numSamples];
for (int i = 0; i < numSamples; i++) {
fin1 >> *(dptr + i);
}
fin1.close();
ifstream fin2("mhb.txt");
// Allocate memory on the heap due to large
// data set
double *mptr = new double[numSamples];
for (int i = 0; i < numSamples; i++) {
fin2 >> *(mptr + i);
}
fin2.close();
// Instantiate NodeList Objects
NodeList noiseNode;
NodeList filterCoeffs;
// Node pointers to head nodes
Node * f = filterCoeffs.head;
Node * n = noiseNode.head;
// Output of filter
double* yptr = new double[numSamples];
// Error signal between reference signal and desired+noise signal
double* eptr = new double [numSamples];
// Simulation Loop
int j = 0;
while (j < numSamples) {
//Push a single measurement to stream
n = noiseNode.push( *(mptr + k) );
//Filter measurements
*(yptr+j) = filter(f, n);
//Adaptive Filter Error
*(eptr+j) = *(dptr + k) - *(yptr+j);
//Update Filter Coefficients,
//output head node of coefficient stream
f = adapt(f, n, *(eptr+j));
j++;
}
// Spool data to text file
ofstream myfile;
myfile.open("yout.txt");
myfile << "error" << setw(15) << "\n";
for (int i = 0; i < numSamples; i++) {
// Capture output, y, to file
myfile << *(eptr+i) << "\n";
}
myfile.close();
return 0;
}