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/*
* TDDD86 Trailblazer
* This file contains functions for computing the costs of navigating the
* terrain and maze worlds, as well as heuristics for predicting costs.
* See costs.cpp for implementation of each function.
*
* Please do not modify this provided file. Your turned-in files should work
* with an unmodified version of all provided code files.
*
* Author: Marty Stepp, Keith Schwarz, et al
* Slight modifications by Tommy Farnqvist
*/
#ifndef _costs_h
#define _costs_h
#include <cmath>
#include <limits>
#include "grid.h"
#include "types.h"
// represents 'infinity' for use in your various algorithms as needed
const double POSITIVE_INFINITY = 1.0 / 0.0;
const double NEGATIVE_INFINITY = -1.0 / 0.0;
/* Constants representing the value of a wall and floor cell in a maze. */
const double kMazeWall = 0.0;
const double kMazeFloor = 1.0;
const double kAltitudePenalty = 100;
/*
* A function that given two adjacent locations in a terrain, returns the cost
* associated with moving from the first location to the second.
*/
double terrainCost(TBLoc from, TBLoc to, const Grid<double>& world);
/*
* A function that, given two locations in a terrain, estimates the cost
* of moving from the first location all the way to the second.
*/
double terrainHeuristic(TBLoc from, TBLoc to, const Grid<double>& world);
/*
* A function that, given two adjacent locations in a maze, returns the cost
* associated with moving from the first location to the second.
*/
double mazeCost(TBLoc from, TBLoc to, const Grid<double>& world);
/*
* A function that, given two locations in a maze, estimates the cost of
* moving from the first location all the way to the second.
*/
double mazeHeuristic(TBLoc from, TBLoc to, const Grid<double>& world);
/*
* A heuristic function that always returns 0. This function is used so that
* the shortestPath function can be used to run Dijkstra's algorithm, which is
* the same as running A* search with a zero heuristic function.
*/
double zeroHeuristic(TBLoc from, TBLoc to, const Grid<double>& world);
#endif
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