memory efficient solution

5 files changed, 14 insertions, 20 deletions

diff --git a/bin/main b/bin/main
index fb8db71..2b4e483 100755
--- a/bin/main
+++ b/bin/main
diff --git a/include/astar.hpp b/include/astar.hpp
index a8225f3..d4384e3 100644
--- a/include/astar.hpp
+++ b/include/astar.hpp
@@ -36,7 +36,6 @@ private:
 	Node get_neighbour(Node& n_in, const int& neighbour_num);
 
 	void calc_heuristic(Node& n);
-	void calc_f(Node& n);
 
 	bool check_item_vec(const Node& n);
 	int get_index_vec(const Node& n);
diff --git a/include/node.hpp b/include/node.hpp
index f126fc4..b2c24af 100644
--- a/include/node.hpp
+++ b/include/node.hpp
@@ -27,11 +27,11 @@ private:
 
 	// score that is used to compare to other nodes to see if the other path is
 	// more efficient.
-	int f_score;
+	double f_score;
 	// path length to get to that node.
-	int g_score;
+	double g_score;
 	// heuristic length to destination.
-	int h_score;
+	double h_score;
 
 	// the x and y coordinates of the node in the grid
 	int x, y;
diff --git a/src/astar.cpp b/src/astar.cpp
index a8fa970..120f4e4 100644
--- a/src/astar.cpp
+++ b/src/astar.cpp
@@ -5,20 +5,19 @@
 AStar::AStar() : graph(NULL), graph_width(0), graph_height(0), path_length(10) {
 }
 
-AStar::AStar(int *curr_graph, const unsigned int& width, const unsigned int& height) : graph(curr_graph), graph_width(width), graph_height(height), path_length(1) {
+AStar::AStar(int *curr_graph, const unsigned int& width, const unsigned int& height) : graph(curr_graph), graph_width(width), graph_height(height), path_length(10) {
 	for(unsigned int i = 0; i < graph_width * graph_height; ++i)
 		if(graph[i] == 3) {
 			start_node.x = i % graph_width;
 			start_node.y = i / graph_width;
 			start_node.g_score = 0;
 			calc_heuristic(start_node);
-			calc_f(start_node);
+			start_node.f_score = start_node.g_score + start_node.f_score;
 		} else if(graph[i] == 2) {
 			end_node.x = i % graph_width;
 			end_node.y = i / graph_width;
 		}
 	open_set.push(start_node);
-	start_algorithm();
 }
 
 bool AStar::start_algorithm(int *curr_graph, const unsigned int& width, const unsigned int& height) {
@@ -35,9 +34,9 @@ bool AStar::start_algorithm(int *curr_graph, const unsigned int& width, const un
 			start_node.y = i / graph_width;
 			start_node.g_score = 0;
 			calc_heuristic(start_node);
+			start_node.f_score = start_node.g_score + start_node.h_score;
 			start_node.x_prev = -1;
 			start_node.y_prev = -1;
-			calc_f(start_node);
 		} else if(graph[i] == 2) {
 			end_node.x = i % graph_width;
 			end_node.y = i / graph_width;
@@ -67,7 +66,7 @@ bool AStar::start_algorithm() {
 				if(!open_set.check_item(n) && !check_item_vec(n)) {
 					n.g_score = cost;
 					calc_heuristic(n);
-					calc_f(n);
+					n.f_score = n.g_score + n.h_score;
 					n.x_prev = current.x;
 					n.y_prev = current.y;
 					open_set.push(n);
@@ -127,11 +126,7 @@ Node AStar::get_neighbour(Node& n_in, const int& neighbour_num) {
 }
 
 void AStar::calc_heuristic(Node& n) {
-	n.h_score = pow(10 * (end_node.x - n.x), 2) + pow(10 * (end_node.y - n.y), 2);
-}
-
-void AStar::calc_f(Node& n) {
-	n.f_score = n.g_score + n.h_score;
+	n.h_score = 10 * sqrt(((end_node.x - n.x) * (end_node.x - n.x) + (end_node.y - n.y) * (end_node.y - n.y)));
 }
 
 bool AStar::check_item_vec(const Node& n) {
diff --git a/src/main.cpp b/src/main.cpp
index 14f46e8..f281df3 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -31,13 +31,13 @@ int main(int argc, char *argv[]) {
 
 	// set the constants int the file that define the grid to be displayed.
 	// for the mac
-	// const int tile_size = 21;
-	// const int rows = 41;
-	// const int cols = 34;
+	const int tile_size = 21;
+	const int rows = 41;
+	const int cols = 34;
 
-	const int tile_size = 25;
-	const int rows = 50;
-	const int cols = 100;
+	// const int tile_size = 25;
+	// const int rows = 50;
+	// const int cols = 100;
 
 	int start_x = rand() % cols;
 	int start_y = rand() % rows;