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Replaced costs array with just a single cost value

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This commit is contained in:
Michael Votaw
2024-09-26 15:46:03 -05:00
committed by teejusb
parent cbfd09658f
commit 61ee3bc329
5 changed files with 61 additions and 88 deletions
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src/StepParityGenerator.cpp
+4 -9
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@@ -61,10 +61,10 @@ void StepParityGenerator::buildStateGraph()
for(auto it = PermuteFootPlacements->begin(); it != PermuteFootPlacements->end(); it++)
{
State resultState = initResultState(state, row, *it);
float* costs = costCalculator.getActionCost(&state, &resultState, rows, i);
float cost = costCalculator.getActionCost(&state, &resultState, rows, i);
resultState.calculateHashes();
StepParityNode *resultNode = graph.addOrGetExistingNode(resultState);
graph.addEdge(initialNode, resultNode, costs);
graph.addEdge(initialNode, resultNode, cost);
if(std::find(uniqueStates.begin(), uniqueStates.end(), resultState) == uniqueStates.end())
{
uniqueStates.push_back(resultState);
@@ -90,12 +90,7 @@ void StepParityGenerator::buildStateGraph()
{
State state = previousStates.front();
StepParityNode *node = graph.addOrGetExistingNode(state);
float * emptyCosts = new float[NUM_Cost];
for(int i = 0; i < NUM_Cost; i++)
{
emptyCosts[i] = 0;
}
graph.addEdge(node, endNode, emptyCosts);
graph.addEdge(node, endNode, 0);
previousStates.pop();
}
}
@@ -247,7 +242,7 @@ std::vector<int> StepParityGenerator::computeCheapestPath()
for(auto neighbor: node->neighbors)
{
int neighbor_id = neighbor.first->id;
float weight = neighbor.second[COST_TOTAL];
float weight = neighbor.second;
if(cost[i] + weight < cost[neighbor_id])
{
cost[neighbor_id] = cost[i] + weight;