I am trying to implement A* algorithm (with visualization in Qt). I've got this method:
result_path astar_algorithm::calculate(mapview* m_view)
{
map_view = m_view;
auto closed_set = std::vector<std::shared_ptr<node>>();
auto start_node = std::make_shared<node>(_start);
auto open_set = std::vector<std::shared_ptr<node>>{start_node};
std::map<node, node> came_from;
std::shared_ptr<node> current;
while (!open_set.empty())
{
current = *std::min_element(open_set.begin(), open_set.end());
if (*current == _end)
{
// TODO: Reconstruct a result path!!!
break;
}
open_set.erase(std::find(open_set.begin(), open_set.end(), current));
closed_set.push_back(current);
auto neighbors = get_neighbors(*current);
for (auto& neighbor : neighbors)
{
if (std::find_if(closed_set.begin(), closed_set.end(),
[&](std::shared_ptr<node> const& p) { return *p == neighbor; }) !=
closed_set.end())
continue;
auto tentative_g_score = current->G + 1;
if (std::find_if(open_set.begin(), open_set.end(), [&](std::shared_ptr<node> const& p) {
return *p == neighbor;
}) == open_set.end())
{
neighbor.G = tentative_g_score;
neighbor.H = heuristic_cost_estimate(neighbor.pos, _end);
neighbor.parent = current;
open_set.push_back(std::make_shared<node>(neighbor));
}
else if (tentative_g_score < neighbor.G)
{
neighbor.parent = current;
neighbor.G = tentative_g_score;
}
}
}
auto result = result_path();
while (*current != *start_node)
{
result.path.push_back(current->pos);
current = current->parent;
}
result.path.push_back(start_node.pos);
std::reverse(result.path.begin(), result.path.end());
return result;
}
It works, but I have a few problems:
if (std::find_if(closed_set.begin(), closed_set.end(),
[&](std::shared_ptr<node> const& p) { return *p == neighbor; }) !=
closed_set.end())
continue;
This line checks if a node is present in an std::vector and if so, it continues the loop (then there is a second line similar to this, it just checks if node is not actually present in the vector). I guess the better way would be to store those nodes in a vector and then searching and further adding would be easier (cuz I just have to check if the insert succeeded).
The problem is, afaik, to make this work I have to implement < operator. And so I did. I also made == and !=:
class node
{
public:
node() {}
node(const QPoint& p) : pos(p) {}
bool operator == (const node& o ) const { return pos == o.pos; }
bool operator == (const QPoint& o ) const { return pos == o; }
bool operator != (const node& o) const {return pos != o.pos; }
bool operator <(const node& o ) const { return G + H < o.G + o.H; }
QPoint pos;
std::shared_ptr<node> parent;
int G = 0;
int H = 0;
};
It works perfectly for the earlier search for std::min_element (it searches for a node with the lowest F value (F=G+H)), it uses < operator. But then I tried to use a set, so those two vectors at the beginning of the method were set and when I wanted to just insert or even check if a node is already in a set and then insert I had a problem. Many of those nodes will have the same G+H value, as the maze which I used was kind of simple (i.e. a maze completely without terrains). I checked it under the debugger and the nodes with unique .pos values (QPoint) were not added to the set just like they weren't unique (but if the node had a different G+H value than any node in the set, it would be added). For the vector the same nodes of course work, cuz there are no checks made, I checked everything carefully under the debugger.
I don't know if I am getting this wrong, but I thought it would use a == or != operators but as seen in this answer: link, it actually uses < operator, which in my case would not distinguish between two nodes (cuz the unique part of each node is its position in the grid (node represents a box in a grid, which can represent a maze or smth similar))
So, is there something I am doing wrong or am I actually getting this right, and the inserting (which checks if the element is unique) or checking if the element exists in a set uses < operator and I cannot do anything about it? (cuz I would like to have my < operator with comparing G+H and then I would like the searching/inserting to use the == operator to compare)
This is the example that I wrote (I forgot I have Microsoft C++ Compiler from the command line - cl.exe)
#include <algorithm>
#include <iostream>
#include <memory>
#include <set>
class Point
{
public:
int _x, _y;
Point() : _x(0), _y(0) {}
Point(int x, int y) : _x(x), _y(y) {}
bool operator==(const Point& p) const { return _x == p._x && _y == p._y; }
bool operator!=(const Point& p) const { return _x != p._x && _y != p._y; }
};
class node
{
public:
node() {}
node(const Point& p) : pos(p) {}
bool operator==(const node& o) const { return pos == o.pos; }
bool operator==(const Point& o) const { return pos == o; }
bool operator!=(const node& o) const { return pos != o.pos; }
bool operator<(const node& o) const { return G + H < o.G + o.H; }
Point pos;
std::shared_ptr<node> parent;
int G = 0;
int H = 0;
};
int main()
{
node n1(Point(0, 0));
n1.G = 1;
n1.H = 1;
node n2(Point(1, 1));
n2.G = 2;
n2.H = 2;
node n3(Point(2, 2));
n3.G = 1;
n3.H = 1;
std::set<node> nodes;
nodes.insert(n1);
nodes.insert(n2);
nodes.insert(n3);
auto min = (*std::min_element(nodes.begin(), nodes.end())).pos;
std::cout << min._x << " " << min._y << '\n';
std::cout << nodes.size() << '\n';
}
>main.exe
0 0
2
std::min_element works, but those are 3 unique nodes for me (differet .pos values) so there should be 3 nodes in the set. And that's what I want to achieve
