function idastarPathfind(grid, start, end, allowDiag, hFn) {
const h = hFn || HEURISTICS.manhattan;
let threshold = h(start[0], start[1], end[0], end[1]);
while (true) {
const visited = new Set();
const prev = new Map();
const res = search(start[0], start[1], 0, threshold, visited, prev);
if (res === true) return;
if (res === Infinity) break;
threshold = res;
}
reportNoPath();
function search(r, c, g, bound, visited, prev) {
const f = g + h(r, c, end[0], end[1]);
if (f > bound) return f;
const cellKey = key(r, c);
if (visited.has(cellKey)) return Infinity;
visited.add(cellKey);
visitNode(r, c);
if (r === end[0] && c === end[1]) {
reconstructPath(prev, start, end);
return true;
}
let min = Infinity;
for (const [nr, nc] of getNeighbors(grid, r, c, allowDiag)) {
const neighborKey = key(nr, nc);
if (visited.has(neighborKey)) continue;
prev.set(neighborKey, [r, c]);
pushFrontier(nr, nc);
const cost = g + stepCost(grid, r, c, nr, nc);
const result = search(nr, nc, cost, bound, visited, prev);
if (result === true) return true;
if (result < min) min = result;
}
visited.delete(cellKey);
return min;
}
} def idastarPathfind(grid, start, end, allowDiag, hFn):
h = (hFn or HEURISTICS.manhattan)
threshold = h(start[0], start[1], end[0], end[1])
while True:
visited = Set()
prev = Map()
res = search(start[0], start[1], 0, threshold, visited, prev)
if (res == True):
return
if (res == Infinity):
break
threshold = res
reportNoPath()
def search(r, c, g, bound, visited, prev):
f = (g + h(r, c, end[0], end[1]))
if (f > bound):
return f
cellKey = key(r, c)
if visited.has(cellKey):
return Infinity
visited.add(cellKey)
visitNode(r, c)
if ((r == end[0]) and (c == end[1])):
reconstructPath(prev, start, end)
return True
min = Infinity
for nr, nc in getNeighbors(grid, r, c, allowDiag):
neighborKey = key(nr, nc)
if visited.has(neighborKey):
continue
prev.set(neighborKey, [r, c])
pushFrontier(nr, nc)
cost = (g + stepCost(grid, r, c, nr, nc))
result = search(nr, nc, cost, bound, visited, prev)
if (result == True):
return True
if (result < min):
min = result
visited.delete(cellKey)
return min #include <vector>
#include <algorithm>
void idastarPathfind(int grid, int start, int end, int allowDiag, int hFn) {
auto h = (hFn || HEURISTICS.manhattan);
auto threshold = h(start[0], start[1], end[0], end[1]);
while(true) {
auto visited = Set();
auto prev = Map();
auto res = search(start[0], start[1], 0, threshold, visited, prev);
if((res == true)) {
return;
}
if((res == Infinity)) {
break;
}
threshold = res;
}
reportNoPath();
int search(int r, int c, int g, int bound, int visited, int prev) {
auto f = (g + h(r, c, end[0], end[1]));
if((f > bound)) {
return f;
}
auto cellKey = key(r, c);
if(visited.has(cellKey)) {
return Infinity;
}
visited.add(cellKey);
visitNode(r, c);
if(((r == end[0]) && (c == end[1]))) {
reconstructPath(prev, start, end);
return true;
}
auto min = Infinity;
for(auto& [nr, nc] : getNeighbors(grid, r, c, allowDiag)) {
auto neighborKey = key(nr, nc);
if(visited.has(neighborKey)) {
continue;
}
prev.set(neighborKey, [r, c]);
pushFrontier(nr, nc);
auto cost = (g + stepCost(grid, r, c, nr, nc));
auto result = search(nr, nc, cost, bound, visited, prev);
if((result == true)) {
return true;
}
if((result < min)) {
min = result;
}
}
visited.delete(cellKey);
return min;
}
} public void idastarPathfind(int grid, int start, int end, int allowDiag, int hFn) {
var h = (hFn || HEURISTICS.manhattan);
var threshold = h(start[0], start[1], end[0], end[1]);
while(true) {
var visited = Set();
var prev = Map();
var res = search(start[0], start[1], 0, threshold, visited, prev);
if((res == true)) {
return;
}
if((res == Infinity)) {
break;
}
threshold = res;
}
reportNoPath();
int search(int r, int c, int g, int bound, int visited, int prev) {
var f = (g + h(r, c, end[0], end[1]));
if((f > bound)) {
return f;
}
var cellKey = key(r, c);
if(visited.has(cellKey)) {
return Infinity;
}
visited.add(cellKey);
visitNode(r, c);
if(((r == end[0]) && (c == end[1]))) {
reconstructPath(prev, start, end);
return true;
}
var min = Infinity;
foreach(var (nr, nc) in getNeighbors(grid, r, c, allowDiag)) {
var neighborKey = key(nr, nc);
if(visited.has(neighborKey)) {
continue;
}
prev.set(neighborKey, [r, c]);
pushFrontier(nr, nc);
var cost = (g + stepCost(grid, r, c, nr, nc));
var result = search(nr, nc, cost, bound, visited, prev);
if((result == true)) {
return true;
}
if((result < min)) {
min = result;
}
}
visited.delete(cellKey);
return min;
}
} #include <stdio.h>
void idastarPathfind(int grid, int start, int end, int allowDiag, int hFn) {
var h = (hFn || HEURISTICS.manhattan);
var threshold = h(start[0], start[1], end[0], end[1]);
while(true) {
var visited = Set();
var prev = Map();
var res = search(start[0], start[1], 0, threshold, visited, prev);
if((res == true)) {
return;
}
if((res == Infinity)) {
break;
}
threshold = res;
}
reportNoPath();
int search(int r, int c, int g, int bound, int visited, int prev) {
var f = (g + h(r, c, end[0], end[1]));
if((f > bound)) {
return f;
}
var cellKey = key(r, c);
if(visited.has(cellKey)) {
return Infinity;
}
visited.add(cellKey);
visitNode(r, c);
if(((r == end[0]) && (c == end[1]))) {
reconstructPath(prev, start, end);
return true;
}
var min = Infinity;
for(int _fod_i = 0; _fod_i < getNeighbors(grid, r, c, allowDiag)_len; _fod_i++) {
int nr = getNeighbors(grid, r, c, allowDiag)[_fod_i][0];
int nc = getNeighbors(grid, r, c, allowDiag)[_fod_i][1];
var neighborKey = key(nr, nc);
if(visited.has(neighborKey)) {
continue;
}
prev.set(neighborKey, [r, c]);
pushFrontier(nr, nc);
var cost = (g + stepCost(grid, r, c, nr, nc));
var result = search(nr, nc, cost, bound, visited, prev);
if((result == true)) {
return true;
}
if((result < min)) {
min = result;
}
}
visited.delete(cellKey);
return min;
}
}