#include "stlastar.h" // See header for copyright and usage information

#include <iostream>

#include <stdio.h>

#include <Astar.h>

/******************* NOTES ON THE INPUT MAP **************************

Each element contains an integer from 0 to 5 which indicates the cost

of travel across the terrain. Zero means the least possible difficulty

in travelling (think ice rink if you can skate) whilst 5 represents the

most difficult. 9 indicates that we cannot pass.

**************************************************************************/

int aMap[] = {

// 0 2 4 6 8 10 12 14 16 18

// 1 3 5 7 9 11 13 15 17 19

1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1, // 00

1,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,1, // 01

1,9,9,1,1,9,9,9,1,9,1,9,1,9,1,9,9,9,1,1, // 02

1,9,9,1,1,9,9,9,1,9,1,9,1,9,1,9,9,9,1,1, // 03

1,9,1,1,1,1,9,9,1,9,1,9,1,1,1,1,9,9,1,1, // 04

1,9,1,1,9,1,1,1,1,9,1,1,1,1,9,1,1,1,1,1, // 05

1,9,9,9,9,1,1,1,1,1,1,9,9,9,9,1,1,1,1,1, // 06

1,9,9,9,9,9,9,9,9,1,1,1,9,9,9,9,9,9,9,1, // 07

1,9,1,1,1,1,1,1,1,1,1,9,1,1,1,1,1,1,1,1, // 08

1,9,1,9,9,9,9,9,9,9,1,1,9,9,9,9,9,9,9,1, // 09

1,9,1,1,1,1,9,1,1,9,1,1,1,1,1,1,1,1,1,1, // 10

1,9,9,9,9,9,1,9,1,9,1,9,9,9,9,9,1,1,1,1, // 11

1,9,1,9,1,9,9,9,1,9,1,9,1,9,1,9,9,9,1,1, // 12

1,9,1,9,1,9,9,9,1,9,1,9,1,9,1,9,9,9,1,1, // 13

1,9,1,1,1,1,9,9,1,9,1,9,1,1,1,1,9,9,1,1, // 14

1,9,1,1,9,1,1,1,1,9,1,1,1,1,9,1,1,1,1,1, // 15

1,9,9,9,9,1,1,1,1,1,1,9,9,9,9,1,1,1,1,1, // 16

1,1,9,9,9,9,9,9,9,1,1,1,9,9,9,1,9,9,9,9, // 17

1,9,1,1,1,1,1,1,1,1,1,9,1,1,1,1,1,1,1,1, // 18

1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1, // 19

};

int main( int argc, char *argv[] )

{

std::vector<int> access_map(aMap, aMap + sizeof(aMap)/sizeof(int));

std::vector<int> solutionPath;

Astar myAstar(access_map, 20, 20);

//First run, printing solution using the Astar method

myAstar.run(43,380);

cout << "[Using class method] ";

myAstar.printSolution();

cout << endl;

//Second run, printing solution by getting the path

myAstar.run(380,43);

solutionPath = myAstar.path;

cout << "[Getting Path] Path from 380 to 43:" << endl;

for(int i=0; i<solutionPath.size();i++){

cout << " " << solutionPath.at(i);

}

cout << endl;

return 0;

}