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make heuristic only take in one arg

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mat 2022-10-09 00:27:01 -05:00
parent e1254c32b6
commit b95423ed23
1 changed files with 11 additions and 8 deletions
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19
azalea-pathfinder/src/mtdstarlite.rs
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@ -15,7 +15,7 @@ use std::{collections::HashMap, fmt::Debug, hash::Hash, ops::Add};
pub struct MTDStarLite<
N: Eq + Hash + Copy + Debug,
W: PartialOrd + Eq + Default + Copy + num_traits::Bounded + Debug,
HeuristicFn: Fn(&N, &N) -> W,
HeuristicFn: Fn(&N) -> W,
SuccessorsFn: Fn(&N) -> Vec<Edge<N, W>>,
PredecessorsFn: Fn(&N) -> Vec<Edge<N, W>>,
> {
@ -44,7 +44,7 @@ pub struct MTDStarLite<
impl<
N: Eq + Hash + Copy + Debug,
W: PartialOrd + Eq + Add<Output = W> + Default + Copy + num_traits::Bounded + Debug,
HeuristicFn: Fn(&N, &N) -> W,
HeuristicFn: Fn(&N) -> W,
SuccessorsFn: Fn(&N) -> Vec<Edge<N, W>>,
PredecessorsFn: Fn(&N) -> Vec<Edge<N, W>>,
> MTDStarLite<N, W, HeuristicFn, SuccessorsFn, PredecessorsFn>
@ -56,7 +56,7 @@ impl<
if min_score == W::max_value() {
min_score
} else {
min_score + (self.heuristic)(n, &self.goal) + self.k_m
min_score + (self.heuristic)(n) + self.k_m
},
min_score,
)
@ -193,7 +193,7 @@ impl<
}
//
self.k_m = self.k_m + (self.heuristic)(&self.goal, &self.old_goal);
self.k_m = self.k_m + (self.heuristic)(&self.old_goal);
if self.old_start != self.start {
self.optimized_deletion();
@ -373,9 +373,12 @@ mod tests {
let width = maze[0].len();
let height = maze.len();
fn heuristic(a: &(usize, usize), b: &(usize, usize)) -> usize {
((a.0 as isize - b.0 as isize).abs() + (a.1 as isize - b.1 as isize).abs()) as usize
}
let goal = (4, 4);
let heuristic = |n: &(usize, usize)| -> usize {
((n.0 as isize - goal.0 as isize).abs() + (n.1 as isize - goal.1 as isize).abs())
as usize
};
let successors = |a: &(usize, usize)| -> Vec<Edge<(usize, usize), usize>> {
let mut successors = Vec::with_capacity(4);
let (x, y) = *a;
@ -439,7 +442,7 @@ mod tests {
predecessors
};
let mut pf = MTDStarLite::new((0, 0), (4, 4), heuristic, successors, predecessors);
let mut pf = MTDStarLite::new((0, 0), goal, heuristic, successors, predecessors);
// assert!(pf.try_next().unwrap() == Some(&(0, 1)));
// assert!(pf.try_next().unwrap() == Some(&(0, 2)));
// assert!(pf.try_next().unwrap() == Some(&(1, 2)));