2005-10-28 18:41:30 +01:00
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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% Author: Tom Schrijvers
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2007-10-17 00:17:04 +01:00
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% Email: Tom.Schrijvers@cs.kuleuven.be
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2005-10-28 18:41:30 +01:00
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% Copyright: K.U.Leuven 2004
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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:- module(a_star,
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[
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a_star/4
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]).
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:- use_module(binomialheap).
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:- use_module(find).
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:- use_module(hprolog).
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a_star(DataIn,FinalData,ExpandData,DataOut) :-
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a_star_node(DataIn,0,InitialNode),
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empty_q(NewQueue),
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insert_q(NewQueue,InitialNode,Queue),
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a_star_aux(Queue,FinalData,ExpandData,EndNode),
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a_star_node(DataOut,_,EndNode).
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a_star_aux(Queue,FinalData,ExpandData,EndNode) :-
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delete_min_q(Queue,Queue1,Node),
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( final_node(FinalData,Node) ->
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Node = EndNode
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;
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expand_node(ExpandData,Node,Nodes),
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insert_list_q(Nodes,Queue1,NQueue),
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a_star_aux(NQueue,FinalData,ExpandData,EndNode)
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).
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final_node(D^Call,Node) :-
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a_star_node(Data,_,Node),
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term_variables(Call,Vars),
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chr_delete(Vars,D,DVars),
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copy_term(D^Call-DVars,Data^NCall-DVars),
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call(NCall).
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expand_node(D^Ds^C^Call,Node,Nodes) :-
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a_star_node(Data,Score,Node),
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term_variables(Call,Vars),
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chr_delete(Vars,D,DVars0),
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chr_delete(DVars0,Ds,DVars1),
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chr_delete(DVars1,C,DVars),
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copy_term(D^Ds^C^Call-DVars,Data^EData^Cost^NCall-DVars),
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term_variables(Node,NVars,DVars),
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find_with_var_identity(ENode,NVars,(NCall,EScore is Cost + Score,a_star:a_star_node(EData,EScore,ENode)),Nodes).
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a_star_node(Data,Score,Data-Score).
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