[#69] Fix goal check in A*

Orchaldir · May 29, 2020 · 8bf19f9 · 8bf19f9
1 parent 6858613
commit 8bf19f9
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Showing 2 changed files with 10 additions and 10 deletions.
diff --git a/src/main/kotlin/ai/pathfinding/AStar.kt b/src/main/kotlin/ai/pathfinding/AStar.kt
@@ -24,12 +24,12 @@ class AStar<T> {
                 return GoalAlreadyReached
             } else if (graph.isValid(goal)) {
                 isAnyGoalReachable = true
-            }
 
-            val goalNode = AStarNode(goal)
-            goalNode.costSoFar = 0
-            openNodes.add(goalNode)
-            list[goal] = goalNode
+                val goalNode = AStarNode(goal)
+                goalNode.costSoFar = 0
+                openNodes.add(goalNode)
+                list[goal] = goalNode
+            }
         }
 
         if (!isAnyGoalReachable) {

diff --git a/src/test/kotlin/ai/pathfinding/AStarTest.kt b/src/test/kotlin/ai/pathfinding/AStarTest.kt
@@ -90,16 +90,16 @@ class AStarTest {
 
     @Test
     fun `1 of 2 goals is an  obstacle`() {
-        val values = listOf(f, f, o)
-        val graph = OccupancyMap(Chebyshev, values, Size(3, 1))
+        val values = listOf(f, f, f, o)
+        val graph = OccupancyMap(Chebyshev, values, Size(4, 1))
 
         val aStar = AStar<Boolean>()
 
-        assertThat(aStar.find(graph, 1, setOf(0, 2), 3)).isEqualTo(
+        assertThat(aStar.find(graph, 2, setOf(0, 3), 3)).isEqualTo(
             Path(
                 size = 3,
-                totalCost = 1,
-                indices = listOf(0)
+                totalCost = 2,
+                indices = listOf(1, 0)
             )
         )
     }