int main() {
struct FakeHeur{ int h(GridState a, GridState b) {return 0;}};
GridEnvironment g("arena.map");
GridState start {3,3};
GridState goal {45,45};
InefficientAStar<GridState, GridAction, GridEnvironment, FakeHeur> slowAS;
slowAS.GetPath(g, start, goal);
}
int main() {
// std::ofstream out("out.txt");
// std::cout.rdbuf(out.rdbuf());
srand(0);
std::vector<GridAction > act;
std::string filename = "lak303d.map";
GridEnvironment g(filename);
std::ifstream scen_file(filename + ".scen");
std::string line = "";
std::string skip = "";
getline(scen_file, line);
InefficientAStar<GridState, GridAction , GridEnvironment, DifferentialHeuristic> SlowAS;
DifferentialHeuristic dh;
dh.FurthestPivots(g, 10);
DifferentialHeuristic dh2;
dh2.RandomPivots(g, 10);
while (getline(scen_file, line)) {
std::stringstream ss(line);
ss >> skip;
ss >> skip;
ss >> skip;
ss >> skip;
int startX, startY, goalX, goalY;
ss >> startX;
ss >> startY;
ss >> goalX;
ss >> goalY;
ss >> skip;
std::cout << "\nstart: " << startX << " " << startY << " goal: " << goalX << " " << goalY << std::endl;
GridState start{ startX, startY };
GridState goal{ goalX, goalY };;
assert(g.valid(start.x,start.y));
assert(g.valid(goal.x,goal.y));
std::cout << "Farthest spaced:\n";
auto time1 = std::chrono::system_clock::now();
SlowAS.GetPath(g, start, goal, dh);
std::cout << "time: " << std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now() - time1).count() << " ms\n";
std::cout << "Random pivots:\n";
time1 = std::chrono::system_clock::now();
SlowAS.GetPath(g, start, goal, dh2);
std::cout << "time: " << std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now() - time1).count() << " ms\n";
}
}
