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Author: UprightPath (posted 2014-04-14 17:35:47, viewed 121 times)

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package derp;

import java.util.ArrayList;
import java.util.List;

public class AStar {
   
   public static void main(String[] args) {
      new AStar(new Node(0, 0), new Node(5,5));
   }
   
   private List<Node> open = new ArrayList<Node>();
   private List<Node> closed = new ArrayList<Node>();
   private Node start = null;
   private Node goal = null;
   private Node last = null;
   
   public AStar(Node start, Node goal) {
      this.start = start;
      this.goal = goal;
      
      createPath();
   }
   
   private void createPath() {
      open.add(start);
      
      Node q = null;
      while(open.size() > 0) {
         q = null;
         for(Node node : open) {
            if(q == null || (q != null && node.f < q.f)) {
               q = node;
            }
         }
         if(last != null && last.g < q.f) {
            System.out.println("Best route found!");
            break;
         }
         //System.out.println(q.x + ", " + q.y);
         open.remove(q);
         closed.add(q);
         
         Node[] successors = new Node[] {
               new Node(q, q.x, q.y + 1), 
               new Node(q, q.x, q.y - 1), 
               new Node(q, q.x + 1, q.y), 
               new Node(q, q.x - 1, q.y)
         };
         
         for(Node node : successors) {
            if(node.equals(goal)) {
               System.out.println("Goal found!");
               last = node;
               break;
            }
            
            node.g = q.g + 1;
            node.h = manhattanDistance(node, goal);
            node.f = node.g + node.h;
            
            /*
             * If successor exists in OPEN list with lower f
             * Skip this successor
             */
            
            boolean found1 = false;
            for(Node n : open) {
               if(n.equals(node) && n.f < node.f) {
                  found1 = true;
                  break;
               }
            }
            if(found1 == true) {
               continue;
            }
            
            /*
             * If successor exists in CLOSED list with lower f
             * Skip this successor
             */
            
            boolean found2 = false;
            for(Node n : closed) {
               if(n.equals(node) && n.f < node.f) {
                  found2 = true;
                  break;
               }
            }
            if(found2 == true) {
               continue;
            }
            
            /*
             * If not found in either list with smaller f
             * Add node to open list
             */
            
            if(!found1 && !found2) {
               open.add(node);
            }
         }
      }
   }
   
   private int manhattanDistance(Node start, Node end) {
      return Math.abs(end.x - start.x) + Math.abs(end.y - start.y);
   }
   
   public void listNodes() {
      while(last.parent != null) {
         System.out.println(last.x + " : " + last.y);
         last = last.parent;
      }
   }
}

class Node {
   public Node parent;
   public int x, y;
   public float f, g, h;
   
   public Node(int x, int y) {
      this.x = x;
      this.y = y;
   }
   
   public Node(Node parent, int x, int y) {
      this.parent = parent;
      this.x = x;
      this.y = y;
   }
   
   public boolean equals(Node other) {
      return x == other.x && y == other.y;
   }
}





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