[Commit] RRbot RicochetRecursive.java,1.1,1.2
Christian L. Platt
commit at keithp.com
Tue Jun 10 00:31:04 PDT 2003
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Committed by: plattc
Update of /local/src/CVS/RRbot
In directory home.keithp.com:/tmp/cvs-serv19701
Modified Files:
RicochetRecursive.java
Log Message:
Modified stop list removal section int IDAstr(). Seems to fix problem.
We now generate fast optimal solutions.
Index: RicochetRecursive.java
===================================================================
RCS file: /local/src/CVS/RRbot/RicochetRecursive.java,v
retrieving revision 1.1
retrieving revision 1.2
diff -u -d -r1.1 -r1.2
--- RicochetRecursive.java 10 Jun 2003 06:03:19 -0000 1.1
+++ RicochetRecursive.java 10 Jun 2003 06:31:01 -0000 1.2
@@ -129,7 +129,17 @@
solutionFound( newMoves );
}
//calculate h for new node
- h = (int) (1.5 * distMatrix[robMatrixPos][goalMatrixPos]);
+ //h = (int) (1.5 * distMatrix[robMatrixPos][goalMatrixPos]);
+ h = distMatrix[robMatrixPos][goalMatrixPos];
+
+
+ if ( g + h > maxDepth ) {
+ board.takeBackMove ( robots[i], oldRow, oldCol, robots[i].rpos()
+ , robots[i].cpos() );
+ continue;
+ }
+
+
//create a new node
newNode = new Node( g, h, newMoves );
// store robot's positions in the new node
@@ -144,7 +154,7 @@
return rc;
}
*/
-
+
Long zkey = stopT.getKey( robots );
Node old = (Node) stopT.get( zkey );
boolean prune =
@@ -157,19 +167,24 @@
, robots[i].cpos() );
continue;
}
- if ( old != null ) {
- removedNodes++;
- stopT.remove(zkey);
- } else {
+ //if ( old != null ) {
+ //removedNodes++;
+ //stopT.remove(zkey);
+ //} else {
+
IDAstar( curDepth, maxDepth, newNode );
+
stopT.put( zkey, newNode );
- }
+ //}
+
// undo the move
board.takeBackMove ( robots[i], oldRow, oldCol, robots[i].rpos()
, robots[i].cpos() );
}
}
+ //Long zkey = stopT.getKey( robots );
+ //stopT.put( zkey, newNode );
return 0;
}
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