/**
Print solution in this format:
moveNumber. [movedTile] MOVE_DIRECTION
*/
void printSolution(struct GameState *queue)
{
int i, j;
struct GameState *goal = queue;
int moves[queue->distance];
int movedTiles[queue->distance];
/* fill arays of moves and tiles, which moved - we'll have to go through them
from the end */
for (i = 0; goal != NULL; i++)
{
moves[i] = getLastMove(goal);
movedTiles[i] = getMovedTile(goal);
goal = goal->prev;
}
char *move;
for (i = queue->distance - 1, j = 1; i >= 0; i--, j++)
{
/* moves are named after moving of space (empty tile), but we want to know,
which direction moved tile to swap with */
if (moves[i] == MOVE_LEFT)
{
move = "RIGHT";
}
if (moves[i] == MOVE_UP)
{
move = "DOWN";
}
if (moves[i] == MOVE_RIGHT)
{
move = "LEFT";
}
if (moves[i] == MOVE_DOWN)
{
move = "UP";
}
printf("%d: [%d] %s\n", j, movedTiles[i], move);
}
printf("GOAL\n");
system("PAUSE");
}
/* Updates the observations and the mc filter if the robot is on the move or
* changed it's position since last update
*/
void Localization::update() {
if (!isDestinationSet() && !isGlobalCameraAvailable() ){
//cout << "updating observations" << endl;
updateObservations();
}
//if ( obs.size() > 0 )
// displayObservationSummary();
Move lastMove = getLastMove();
//if ( lastMove.getX() + lastMove.getY() + lastMove.getTheta() != 0 )
// cout << "lastMove(" << lastMove.getX() << "," << lastMove.getY() << "," << lastMove.getTheta() << ")" << endl ;
if ( isGlobalCameraAvailable() ){
if ( lastMove.getX() + lastMove.getY() + lastMove.getTheta() != 0 ){
currentPos.moveRelative(lastMove);
}
}
else if (obs.size() > 0 || lastMove.getX() + lastMove.getY() + lastMove.getTheta() != 0) {
cout << "applying filter" << endl;
mc->updateFilter(lastMove, obs);
}
}
/**
Searches for solution
*/
int solveFifteen()
{
struct GameState *queue;
int i;
while (notEmptyPQ())
{
queue = getQueueTop();
if (queue->manhattanDistance == 0)
{
printSolution(queue);
for (i = 0; i < rows; i++)
{
free(queue->tilesPosition[i]);
}
free(queue->tilesPosition);
free(queue->prev);
queue->prev = NULL;
/* deallocate memory */
int pocet = 0;
while (notEmptyPQ())
{
pocet++;
free(queue);
queue = NULL;
queue = getQueueTop();
for (i = 0; i < rows; i++)
{
free(queue->tilesPosition[i]);
}
free(queue->tilesPosition);
free(queue->prev);
queue->prev = NULL;
}
printf("Ve fronte bylo %d\n", pocet);
system("PAUSE");
return 0;
}
else
{
int lastMove = getLastMove(queue);
if (canMoveLeft(queue) && lastMove != MOVE_RIGHT)
{
struct GameState *s = createNewState(queue);
if (s == NULL)
{
return OUT_OF_MEMORY;
}
moveLeft(s);
s->manhattanDistance = getManhattanDistance(*s);
insertPQ(s);
}
if (canMoveRight(queue) && lastMove != MOVE_LEFT)
{
struct GameState *s = createNewState(queue);
if (s == NULL)
{
return OUT_OF_MEMORY;
}
moveRight(s);
s->manhattanDistance = getManhattanDistance(*s);
insertPQ(s);
}
if (canMoveUp(queue) && lastMove != MOVE_DOWN)
{
struct GameState *s = createNewState(queue);
if (s == NULL)
{
return OUT_OF_MEMORY;
}
moveUp(s);
s->manhattanDistance = getManhattanDistance(*s);
insertPQ(s);
}
if (canMoveDown(queue) && lastMove != MOVE_UP)
{
struct GameState *s = createNewState(queue);
if (s == NULL)
{
return OUT_OF_MEMORY;
}
moveDown(s);
s->manhattanDistance = getManhattanDistance(*s);
insertPQ(s);
}
}
}
return 1;
}
bool Board::isValidNewMove(Coords& move) {
Coords lastMove = getLastMove();
if (lastMove.isNotAMove()) return true;
return this->isValidMove(lastMove, move);
}
