Big help in Astar search code...

This is a discussion on Big help in Astar search code... within the C++ Programming forums, part of the General Programming Boards category; hi...i've been trying to battle out problems with respect to reading a file and then using its contents for Astar ...

  1. #1
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    Big help in Astar search code...

    hi...i've been trying to battle out problems with respect to reading a file and then using its contents for Astar search...i don't expect anyone to be able to help me out here...but i'm putting the code to Astar in this post...

    the code works perfectly for inputfile.txt and gives the right output...for 1.in file it does not produce the right output which should be:

    399.499 0 1357 3424 1683 2668 620 3240 31 3387 3099 3434 0.19 sec

    i suspect it's got to do with reading floats from the file which i can't correct...

    btw if you want to read in inputfile.txt or 1.in then u have to comment the appropriate line in the readFile() function...

    thanks!

    Farooq

    inputfile.txt:
    Code:
    city adelaide 138.0 145.0 
    city canberra 149.0 145.0 
    city hobart 142.0 137.0 
    city melbourne 145.0 142.0 
    city sydney 151.0 146.0
    conn adelaide melbourne
    conn adelaide sydney
    conn canberra melbourne
    conn canberra sydney
    conn hobart melbourne
    start sydney
    goal hobart

    1.in:
    Code:
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    city 1 23.7 45.8
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    city 6 2.9 31.8
    city 7 59.6 71.4
    city 8 82.6 57.2
    city 9 17.8 44.6
    city 10 12.5 93.7
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    city 12 93.0 72.8
    city 13 9.2 37.0
    city 14 35.7 62.7
    city 15 2.1 78.4
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    city 17 29.4 53.5
    city 18 83.0 39.0
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    city 28 80.8 84.8
    city 29 68.9 5.6
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    start 0
    goal 3434

    Astar code:
    Code:
    //---------------------------------------------------------------------------
    
    #include <vcl.h>
    #pragma hdrstop
             
    
    #include<string.h>
    #include<map.h>
    #include<fstream.h>
    #include<iostream.h>
    #include<time.h>
    #include<math.h>
    #include<stdlib.h>
    #include<vector>
    #include <algorithm>
    
    using namespace std;
    
    
    float start_x, start_y;
    float goal_x, goal_y;
    string start_city, goal_city;
    
    //-------------------------------------- Class Declaration and Instantiation
    class Astar
    {
    public:
            	                                               // Public Member Variables
    	enum
    	{
    		SEARCHING,
    		SUCCEEDED,
    		FAILED,
    	};
    
    	// Node class (class that has x, y, heuristic and parent pointer values
    	class Node
    	{
    	public:
    		Node()
    		{
    			parent = NULL;
    
    			g = 0.0;
    			h = 0.0;
    			f = 0.0;
    		}
    
    		/*****getDistanceEstimate()*****
    		*TAKES: int endx:	x value of the endNode
    		*		int endy:	y value of the endNode
    		*RETURNS: float:	the value of the distance equation squared
    		*PURPOSE: to calculate and return the distance from this
    		*node to the endNode
    		********************************/
    		//float getDistanceEstimate( int endx, int endy )    //CHANGE TO FLOAT
                    float getDistanceEstimate( float endx, float endy )
    		{
    			float dx = (float)( (float)x - (float)endx );
    			float dy = (float)( (float)y - (float)endy );
    
    			return sqrt((dx*dx) + (dy*dy));            //ADDED SQRT HERE
    		}
    
    		/*****isSameState()*****
    		*TAKES: Node *rhs:	node to check x,y values
    		*RETURNS: bool:		is this the same state?
    		*PURPOSE: true if the passed node has the same
    		*x and y values as this node
    		************************/
    		bool isSameState( Node *rhs )
    		{
    			if( x == rhs -> x && y == rhs -> y )
    				return true;
    			else
    				return false;
    		}
    
    		Node *parent;
    
    		float g; // cost of this node + its parents
    		float h; // heuristic estimate
    		float f; // g + h
                    
                    string CityName;
                    vector <string> CityConnections;
    		//int x, y;
                    float x,y;
                    //float x_cord, y_cord;
    		//int type;
                    string type;
                    //string StartGoal;
    	};
    
    
    
    
    	class HeapComparison
    	{
    	public:
    
    		/*****operator()*****
    		*TAKES: Node *x:	first node for comparison
    		*		Node *y:	second node for comparison
    		*RETURNS: bool:		does x have higher f than y?
    		*PURPOSE: this function is passed to the list sorting
    		*functions, pop_heap, push_heap, and sort_heap
    		*this function dictates the order of the list
    		*the heap functions are an A* optimization
    		*********************/
    		bool operator() ( const Node *x, const Node *y ) const
    		{
    			return x->f > y->f;
    		}
    	};
    
    //---------------------------------------------------------- Member Functions
    
    	Astar() {                                                   // Constructor
    	}
    
    
    	~Astar() {                                                  // Destructor
    		clearLists();
    	}
    
    	//Reset function
    	void clearLists()
    	{
    		OPEN.clear();
    		CLOSED.clear();
    		SUCCESSORS.clear();
    	}
    
    
           map <string, Node *> CityNode;
    
           //Reads the contents of the input file
           void readFile()
            {
               string check;
               string Conn1;
               string Conn2;
    
               ifstream fin ("inputfile.txt");
               //ifstream fin ("1.in");
    
               while (! fin.eof() )
               {
                  fin >> check;
    
           if (check == "city")
           {
              Astar::Node *newNode = new Astar::Node;
              fin >> newNode -> CityName;
              fin >> newNode -> x;
              fin >> newNode -> y;
              newNode -> type = "path";
              CityNode.insert(make_pair(newNode -> CityName, newNode));
           }
    
           if (check == "conn")
           {
              fin >> Conn1;
              fin >> Conn2;
    
              map <string, Astar::Node *>::iterator i = CityNode.find(Conn1);
              ((i->second)->CityConnections).push_back(Conn2);
    
              i = CityNode.find(Conn2);
              ((i->second)->CityConnections).push_back(Conn1);
    
           }
    
           if (check == "start")
           {
              fin >> Conn1;
    
              map <string, Astar::Node *>::iterator i = CityNode.find(Conn1);
              
              (i->second)->type = "start";
              start_city = Conn1;
              start_x =  (i->second)-> x;
              start_y =  (i->second)-> y;
    
           }
    
           if (check == "goal")
           {
              fin >> Conn1;
    
              map <string, Astar::Node *>::iterator i = CityNode.find(Conn1);
              (i->second)->type = "goal";
              goal_city = Conn1;
              goal_x =  (i->second)-> x;
              goal_y =  (i->second)-> y;
    
           }
    
        }//END OF WHILE
    
        return;
    
    }
    
    
    	/*****setStartEnd()*****
    	*TAKES: int x:	x value of startNode
    	*		int y:	y value of startNode
    	*		int q:	x value of endNode
    	*		int r:	y value of endNode
    	*RETURNS: nothing
    	*PURPOSE: initializes the startNode and endNode
    	************************/
    	
            void setStartEnd (string st_city, string gl_city ,float x, float y, float q, float r)
    	{
    		startNode = new Node;
    		endNode = new Node;
    
    		//Initialize the start and ending nodes
    
    		startNode -> x = x;
    		startNode -> y = y;
                    startNode -> CityName = st_city;
    
                    startNode -> type = "start";
    		endNode   -> x = q;
    		endNode   -> y = r;
                    endNode -> CityName = gl_city;
    
                    endNode   -> type = "goal";
    
    		//Set state of the search algorithm
    		currentState = SEARCHING;
    
    		//Initialize the heuristic variables for the start state
    		startNode->g = 0;
    		startNode->h = startNode->getDistanceEstimate( endNode -> x, endNode ->y );
    		startNode->f = startNode->g + startNode->h;
    		//Starting node has no parents
    		startNode->parent = NULL;
                    
    		//Push starting node onto OPEN list
    		OPEN.push_back( startNode );
    
    		// Sort elements in heap
    		push_heap( OPEN.begin(), OPEN.end(), HeapComparison() );
    
    		// Initialise counter for search steps
    		stepCounter = 0;
    
    	}
    
    
    	/*****Search()*****
    	*TAKES: nothing
    	*RETURNS: unsigned int:	corresponds to a particular state
    	*			SUCCEEDED:	found the endNode
    	*			FAILED:		didn't find the endNode
    	*			SEARCHING:	still searching, keep calling trying
    	*PURPOSE: A* algorithm.  Starts at the lowest f valued node on
    	*the OPEN list (first iteration is always the startNode) and
    	*stores it as thisNode.  The OPEN list contains every node that
    	*hasn't been expanded, ie. has not had successors generated for
    	*it The CLOSED list contains every node that has been expanded,
    	*Search() then generates all the 0 to 8 successors of thisNode
    	*and iterates through them.  Any successor that is found to meet
    	*both of the following conditions is placed in the OPEN list
    	*and it's parent node is stored.
    	*		1) If this successor is already a node on the OPEN list, and
    	*			the 'f' value of the node on the OPEN list is higher
    	*			than that of the successor.  Consequentially, this
    	*			successor was reached faster (from a different direction)
    	*			than it was when it was first put on the OPEN list.
    	*			This successor must be updated on the OPEN list with
    	*			the lower 'f' value.
    	*		2) If this successor is already a node on the CLOSED list, and
    	*			the 'f' value of the node on the CLOSED list is higher
    	*			than that of the successor.  Consequentially, this
    	*			successor was reached faster (from a different direction)
    	*			than it was when it was first put on the CLOSED list.
    	*			Because this successor has already been expanded (it
    	*			is on the CLOSED list) and has a lower 'f' value
    	*			than its similar state on the CLOSED list, this
    	*			successor must be removed from the CLOSED list.
    	*			If this successor meets both criteria, it will be
    	*			placed on the OPEN list and expanded again.
    	*If this successor is neither on the OPEN nor on the CLOSED lists, it
    	*will be put on the OPEN list and have it's parent node stored.  After
    	*Search() has stored every worthwhile successor (those that have met
    	*the two criteria), it will move the successors' parent onto the CLOSED
    	*list.  Search should then be called again, where it will expand the Node
    	*on the OPEN list with the lowest 'f' value.  If a node taken off the OPEN
    	*list is the endNode, Search() will set the currentState flag to SUCCEEDED
    	*and terminate the subroutine.  If the OPEN list is empty, there are no
    	*more states to expand, and therefore no way to get to the endNode.
    	*******************/
    	unsigned int Search()
    	{
    
    		//Check to see if the search succeeded or failed
    		if( ( currentState == SUCCEEDED) || ( currentState == FAILED ) )
                    {
    			return currentState;
                    }
    
    
    		//The search fails if the OPEN list is empty (no more states to search)
    		if( OPEN.empty() )
    		{
    			currentState = FAILED;
    			return currentState;
    		}
    
    		// Incremement stepCounter
    		stepCounter ++;
    
    		//Get the node with the lowest f value (list is always sorted in order
    		//of f values)
    		Node *thisNode = OPEN.front();
    		pop_heap( OPEN.begin(), OPEN.end(), HeapComparison() );
    		OPEN.pop_back();
    
    		// Check for the end state
    
                    if( thisNode -> type == "goal" )
    		{
    			//Store the parent of end node so we can move back up the tree
    			endNode->parent = thisNode->parent;
    
    			//Make sure startNode isn't equal to endNode
    			if( thisNode != startNode )
    			{
    				//delete thisNode;
    				delete thisNode;
    
    			}
    
    			currentState = SUCCEEDED;
    
    			return currentState;
    		}
    		//End state not found
    		else
    		{
    
    			//Generate successors for the node in question
    			//Start by clearing the successor list of the last "thisNode"
    		       	SUCCESSORS.clear();
    
    			//Push successors of thisNode into SUCCESSORS list.
    
                            Node * newNode;
    			//Store x and y coordinates of thisNode's parent so it doesn't go backwards
    			//Make a case for the startNode (it has no parent)
    	      	       	//int parentX = -1;
    	      	      	//int parentY = -1;
    
                            map <string, Node *>::iterator i = CityNode.find(thisNode->CityName);
                            for(int j=0; j < ((i->second)->CityConnections).size(); j++)
                            {
                               //IS THE SUCCESSOR OF thisNode THE PARENT OF thidNode?
    
                               if (thisNode == startNode)
                               {
                                  map <string, Node *>::iterator k = CityNode.find((i->second)->CityConnections[j]);  //ITERATOR POINTING TO THIS SUCCESSOR
                                  newNode = new Node;
    
                                  newNode -> CityName = (k->second)-> CityName;
    			      newNode -> x = (k->second)-> x;
    			      newNode -> y = (k->second)-> y;
    			      newNode -> type = (k->second)-> type;
    
    			      SUCCESSORS.push_back( newNode );
                               }
                               else if (!((i->second)->CityConnections[j] == thisNode->parent->CityName) )
                               {
                                  map <string, Node *>::iterator k = CityNode.find((i->second)->CityConnections[j]);  //ITERATOR POINTING TO THIS SUCCESSOR
                                  newNode = new Node;
    
                                  newNode -> CityName = (k->second)-> CityName;
    			      newNode -> x = (k->second)-> x;
    			      newNode -> y = (k->second)-> y;
    			      newNode -> type = (k->second)-> type;
    
    			      SUCCESSORS.push_back( newNode );
                               }
    
                            }
    
    
    			//Iterate through all the successors of thisNode
    			for( vector< Node * >::iterator successor = SUCCESSORS.begin(); successor != SUCCESSORS.end(); successor ++ )
    			{
                                    //Store the g value for this successor in a temporary variable
                                    float newg = (*successor) -> getDistanceEstimate( thisNode -> x, thisNode -> y );
                                    newg = newg + thisNode->g;
    
    				//Check to see if this successor is on the open or closed lists
    				vector< Node * >::iterator openlist;
    
    				for( openlist = OPEN.begin(); openlist != OPEN.end(); openlist ++ )
    				{
    					if( (*openlist)->isSameState( (*successor) ) )
    					{
    						break;
    					}
    				}
    
    				if( openlist != OPEN.end() )
    				{
    
    					//This successor state is on the OPEN list
    					//Now check to see which has the lower g value
    					if( (*openlist) -> g <= newg )
    					{
    						delete (*successor);
    
    						//the one on OPEN is cheaper than this one
    						//so trash this successor and continue
    						continue;
    					}
    				}
    
    				vector< Node * >::iterator closedlist;
    
    				for( closedlist = CLOSED.begin(); closedlist != CLOSED.end(); closedlist ++ )
    				{
    					if( (*closedlist) -> isSameState( (*successor) ) )
    					{
    						break;
    					}
    				}
    
    				if( closedlist != CLOSED.end() )
    				{
    
    					//This successor state is on the OPEN list
    					//Now check to see which has the lower g value
    					if( (*closedlist) -> g <= newg )
    					{
    						//the one on CLOSED is cheaper than this one
    						//so trash this successor and continue
    						delete (*successor);
    
    						continue;
    					}
    				}
    
    
    				//This successor is fewer steps (g's value) away from the start
    				//Than any occurance on the open or closed list
    				//save parent so we can back track once (if?) we reach the end
    				(*successor) -> parent = thisNode;
    				//Store our temporary g value
    				(*successor)->g = newg;
    				//find the distance (squared) from this point to the endnode
    				(*successor)->h = (*successor) -> getDistanceEstimate( endNode -> x, endNode -> y );
    				//Get the final heuristic value f
    				(*successor)->f = (*successor) -> g + (*successor) -> h;
    
    				//Remove successor from CLOSED if it was on it and had lower g
    
    				if( closedlist != CLOSED.end() )
    				{
    					//remove this successor from CLOSED so we don't try to compare it
    					//again the next time around
    					delete (*closedlist);
    
    					CLOSED.erase( closedlist );
    
    				}
    
    				//Update old version of this successor node on OPEN list
    				if( openlist != OPEN.end() )
    				{
    
    					delete (*openlist);
    
    					OPEN.erase( openlist );
    
    					//resort the heap
    					sort_heap( OPEN.begin(), OPEN.end(), HeapComparison() );
    				}
    
    				//Put this successor (with newest values) into the OPEN list
    				OPEN.push_back( (*successor) );
    
    				//Sort the OPEN list
    				push_heap( OPEN.begin(), OPEN.end(), HeapComparison() );
    
    			}
    
    			//Push thisNode onto CLOSED, it has been expanded
    
    			CLOSED.push_back( thisNode );
    
    		}
    
    		//End of the else, the currentState should only be unsuccessful at this point
    		return currentState;
    
    	}
    	//Function that moves from the endNode to the startNode and changes the path
    
    
    	//From '.' to 'X'
    	void writeoutPath(double diff)
    	{
                    //string PathOutput;
                    float distance = 0.0;
                    vector <string> PathOutput;
    
                    ofstream fout; //to write out to an output file
                    fout.open("outputfile.txt");
    
    
    		if( currentState == SUCCEEDED )
    		{
    			//Iterate back to the startNode from the endNode
    			Node *nodeChild = endNode;
    			Node *nodeParent = endNode->parent;
    
    			do
    			{
    			    //	if( nodeParent != startNode )
    			    //	{ 
                                            //fout << nodeParent->CityName << " ";
    
                                            //fout << nodeChild->CityName << " ";
                                            PathOutput.push_back(nodeChild->CityName);
    
                                            //distance = distance + nodeParent -> getDistanceEstimate((nodeParent->parent)-> x, (nodeParent->parent)-> y);
                                            distance = distance + nodeChild -> getDistanceEstimate((nodeParent)-> x, (nodeParent)-> y);
    			    //	}
    
    				nodeChild = nodeParent;
    				nodeParent = nodeParent->parent;
    
    			}
    			while( nodeChild != startNode );
    
                       fout << distance << " ";
                       //strcat(PathOutput, nodeChild->CityName);
                       PathOutput.push_back(nodeChild->CityName);
    
                       //fout << nodeChild->CityName << " ";
    
                       for (vector<string>::reverse_iterator i = PathOutput.rbegin(); i != PathOutput.rend(); i++)
                       {
                          fout << *i << " ";
                       }
    
    
    
    		}
    
                    else
                    {
                       fout << "No solution ";
                    }
    
    
    
                    fout << diff << " sec" << "\n";
                    fout << flush;
                    fout.close();
                    
    		return;
    	}
    
    private:
    
    
    	//OPEN list explained in comments before Search()
    	vector<Node *> OPEN;
    
    	//CLOSED list explained in comments before Search()
    	vector<Node *> CLOSED;
    
    	//SUCCESSORS is a list of successive nodes branching out from
    	//any particular node.  It is generated almost every iteration of SEARCH
    	vector<Node *> SUCCESSORS;
    
    	unsigned int currentState;
    
    	int stepCounter;
    
    	//Start and end state pointers
    	Node *startNode;
    	Node *endNode;
    
    } aStarSearch;
    
    
    //---------------------------------------------------------------------------
    
    #pragma argsused
    int main(int argc, char* argv[])
    {
    
            clock_t start, end;
            double TimeTaken;
            float x, y, q, r;
    	unsigned int currentSearchState;
    
            aStarSearch.readFile();
            aStarSearch.setStartEnd(start_city, goal_city, start_x, start_y, goal_x, goal_y);
    
            start = clock();
    
    	do {
    		currentSearchState = aStarSearch.Search();
    	} while( currentSearchState == Astar::SEARCHING );
    
        end = clock();
    
       TimeTaken = double(end-start)/double(CLOCKS_PER_SEC);
    	                                 //Search succeeded, print grid with path
    	if ( currentSearchState == Astar::SUCCEEDED ) {
    		aStarSearch.writeoutPath(TimeTaken);
    		//renderGrid();
         
    	}
    	                                                      // or search failed
    	else {
    		//renderGrid();      //Print the grid without writing the path 'X's to it
                    aStarSearch.writeoutPath(TimeTaken);
    		
    	}
    	aStarSearch.clearLists();
    
            return 0;
    }
    //---------------------------------------------------------------------------

  2. #2
    Registered User
    Join Date
    Sep 2004
    Posts
    124
    ya i ran some more tests...it's definitely to do with importing the floats from the text file...could someone tell me the best way to do that so that it doesn't interfere with my code...

    Regards,

    Farooq

  3. #3
    and the hat of wrongness Salem's Avatar
    Join Date
    Aug 2001
    Location
    The edge of the known universe
    Posts
    32,498
    Your test file should SO have been a zip attachment.
    If you dance barefoot on the broken glass of undefined behaviour, you've got to expect the occasional cut.
    If at first you don't succeed, try writing your phone number on the exam paper.
    I support http://www.ukip.org/ as the first necessary step to a free Europe.

  4. #4
    Never Exist Hermitsky's Avatar
    Join Date
    Jul 2004
    Posts
    149
    may i ask... ... what's astar search ? i know nothing about it... ...

    blow me ... ...

  5. #5
    Registered User
    Join Date
    Sep 2004
    Posts
    124
    i was trying but it was too big to be attached...anyway astar search is a form of intelligent search where the heuristic function is of the form: f = g + h...you can search on the net about it...it's basically used in pathfinding e.g maze searches or calculating shortest routes between cities etc...

    Regards,

    Farooq

  6. #6
    Registered User
    Join Date
    Sep 2004
    Posts
    124
    when i compile this on unix using g++ i get a segmentation fault for the second file...the first file runs ok and produces and output...

    is it because of the size of the second file? could someone please help me out with this code cause i have to submit this in like 3 days

    thanks a lot

    Farooq
    Last edited by alvifarooq; 09-24-2004 at 11:34 AM.

  7. #7
    Registered User
    Join Date
    Sep 2004
    Posts
    124

    Exclamation

    here's the .cpp file if anyone can take a look at it...i don't know how the 'segmentation fault' is occurring for the g++ and not for Borland C++...

    this is the Borland C++ version...if u compile using g++ then just change the .h in the #include<ifstream.h> etc...

    Regards,

    Farooq
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