"Explain the A' Search Algorithm Coding below while Weeldetails[raw][coll.Barsat = row && seu Detailstrow][collessati == col) // A C++ Program to implement A* Search Algorithm #include using namespace std; baal Baskedrint grid COL), int row, int col) { // Returns true if the cell is not blocked else false if (grid row][col] == 1) return (true); else return false); } Path.eushouse.Raic (row.col); int terecey-slastallstrow][coll.Barsat int temesgl = seletalstrowall Barsat row = tertawe colteorol #define ROW 9 #define COL 10 } // Creating a shortcut for int, int pair type typedef pairint, int> Pair; Pash Bush bachair (row, coll); while Pathemat // Creating a shortcut for pairint, pair int, int>> type typedef pair double, pairint, int>> Blair // A Utility Function to check whether destination cell has // been reached or not baal is destinatie lint row, int col, Pairseas 1 if (row == dest.fic && coldsstueseos) return (true); else return false; } } pairinti p = Pasturell: Path.Berl; Britt-> (%) e fictBuzecead): 1 return; } // A structure to hold the necesary parameters struct cell { // Row and Column index of its parent // Note that 0 i 0) && {row = 0) && col Path; // A Utility Function to check whether the given cellis // blocked or not Britt ('Destination is invalidn"); return; SURatildi. Barsat -1; SUDAtalatil Barent=-1; 1 // Add this vertex to the closed list L = Buceod.ficuti j = B.secondescendi slasedbullil = true; } // Either the source or the destination is blocked if Oslo Blacked grid, satirst seassand) == false || oblastestlerid, sestficat este ceod) == false) Generating all the success of this cell Brintf("Source or the destination is blocked "); " return; // Initialising the parameters of the starting nade ja sofisticand: Details of = 0.0; SsRetail = 0.0; Se Dateistih = 0.0; Reteisiti. Barents se Details Bausati = 1; N.W NNE 1 W---destination // If the destination cell is the same as source cell if ixRestinationscadist seisund ess) -- true) S.W S S.E Britt ("We are already at the destination "); return; > / Create an open list having information as- > where fagh, and j are the row and column index of that cell Note that 0 Papped Cell , > N-Neuth (1-1,1) S-South E-ass W-West (i-1) N.E--> North-East 0-1.j-1) N.W--> North-West, j-1.j-1) S.E--> South-East (1+1,i+1] S.W--> South-West +1,-1) // Put the starting cell on the open list and set its // 'Pas o Bredbitiosastoto gric (0.0, neberat : // Declare a 2D array of structure to hold the details // of that cell cell selle ROW][COL: // We set this boalean value as false as initially // the destination is not reached. bool teuadsst = false; // Ta store the 's', 'h' and of the successors double sex, biex Now: inti //----------- 1st Successor (North) for (i=0; i New { { sasabiatjosatlabaiche Jake Baici-1, 1)); // If the destination cell is the same as the // current successor if ixRestination +1.1seat) == true) { // Set the Parent of the destination cell cellDetails[i+1.101 Barsat = 1; cellDetails[i+1.161-Barsat -1; Briott'The destination pathways from lig to new yorkin") Gracelath(cell Details, dest: trud Rest=true; return; } // If the successor is already on the closed // list or if it is blocked, then ignare it. // Else do the following else if (clazslistli+220) == false&& Unblocked grid, 1+1, il a true [ biex = cel Details.8 1.0; bidex = selawata Walusu+1, sest New = NexNex // Only process this cell if this is a valid one italid.C+1) == true) { // If the destination cell is the same as the // current successor if Restitooli+1, sest) == true) [ // Set the Parent of the destination cell cellDetails(0+1 Barsat i = 0 cellDetails0+1 1.assat i = 1; Briott The destination pathways from klia to new york "); sacelath(cell Details, dest); found Dest=true; return; } // Update the details of this cell cellDetails-2.00. New cellDetails 10). cellDetails-220. =bbles // If it isn't on the open list, add it to // the open list. Make the current square // the parent of this square. Record the // f, g, and h costs of the square cell // if the successor is already on the closed { // list or if it is blocked, then ignore it. // Else do the following else if (sleadb00+1) == false&& oblastest grid, ii+1) == true) C &lex = cel Details - 1.0 bdex = calculate valus. i j+1, New = Nex+hNex // If the destination cell is the same as the // current successor if (is Destination 1. ss) true) { // Set the Parent of the destination cell cellDetails[i][i-11. Barsat = 1 cellDetails 0-1 Barsatel: Briott'The destination pathways from lig to new yakn"); Hacekatticell Details, dest); Ruod Rest = true; return; } // Update the details of this cell cellDetails14 cellDetails(-168-lex. cellDetails(t-1).h = blev cellDetailst-188 sati cel Detailstil-1 Leatsuki- j; } } 1/---------- Sth Successor (North-East) ----------- // If it isn't on the open list, add it to // the open list. Make the current square // the parent of this square. Record the // f, g, and h costs of the square cell 11 OR // If it is on the open list already, check // to see if this path to that square is better, // using 'f cost as the measure. if (cellDetails()+1/4 FLT_MAX || cel Details +11.6 > New { Bredlist.oastlabsichewa make Rei (+1))); // If the successor is already on the closed // list or if it is blocked, then ignore it. // Else do the following else if (sleadblatt-1) == false&& iskoloskedigrid, 1-1) = true) { sex = cell Detailsos + 1.0 bidex = calculate Valueli 1-1, eest; New sex Nex // Only process this cell if this is a valid one if (Xalid -1,1+1) == true) { // If the destination cell is the same as the // current successor if Us Restination-1.j+1, dout) == true) { // Set the Parent of the destination cell cellDetails[i-110+1).eaceful cellDetails[i-1]+1).parent = 1; printf ("The destination pathways from kliato new york "); tracePath (cellDetails, dest); found Dest = true; return; } // Update the details of this cell cellDetailslili+1W = New cell Details Ut+18 sex cellDetailst+1).h = hex cell Details Uti+1 Baceuti=i cel Details(+11.escent i = 1; 1 // If it isn't on the open list, add it to // the open list. Make the current square // the parent of this square. Record the //f,g, and h costs of the square cell // OR // If it is on the open list already, check // to see if this path to that square is better, // using 'f cost as the measure. if (cellDetails()-1 == FLT_MAX 11 cellDetails-111 > IN { Basatiat.satlakosaic (New Buksaic (11-13) // if the successor is already on the closed // list or if it is blocked, then ignare it. // Else do the following else if (closedList[i-116+1) == false && isoleskeskgrid, 1-1, j+1) == true) { gNew = cell Details.8 1.414; hNew = calculateValued-1, J+1, dest); 4th Successor (West) // Only process this cell if this is a valid one if (Xalidt1-1) == true) ENsw = Nex+hNex } cellDetails[i-330-1) Barsat =j: Briott "The destination pathways from clis to new york "); sacelath.(cel Details, sosti found Rest = true; return; 1/-------7th Successor (South-East) } // If it isn't on the open list, add it to // the open list. Make the current square // the parent of this square. Record the //f,g, and h costs of the square cell OR // If it is on the open list already, check // to see if this path to that square is better, // using 'f cost as the measure. if (cellDetails[i-1111+1).f == FLT_MAX cellDetailsi-110+1).flex) { Basalitaartabsic (w wake.baidj-1,i+1])); // If the successor is already on the closed // list or if it is blocked, then ignore it. // Else do the following else if (clasesbistri-110-1) == false&& iskollaskeskgrid, 1-1, 1-1) == true) // Only process this cell if this is a valid one if (isValid(i+1, 3+1) == true) { // If the destination cell is the same as the // current successor if Restinations +1, +1, dest) == true) { // Set the Parent of the destination cell cellDetails[i+1.10+1).parent_i= 1; cell Details[i+100+1).parent_j = 1; eciatt. ("The destination pathways from lig to new york "); tracePath (cel Details, dest); found Dest = true; return; } biex = cel Detailstati,8 + 1.414; dex = calculats Value:-1,-1, saate: INsx=gNew+hNew; // Update the details of this cell cel Details[i-1i+1].f = New cel Details - 1.00 +1)-8=desc cellDetails[i-1][i+1].h = billex cell Details-2.00+11 Barat = 1; cellDetails-J+11Barsat = 1; } // If it isn't on the open list, add it to // the open list. Make the current square // the parent of this square. Record the // f, g, and h costs of the square cell // OR // If it is on the open list already, check // to see if this path to that square is better, // using 'f cost as the measure. if (cell Details[i-111-1).f == FLT_MAX || cell Details[i-110-1].f> New) 1 openlist.insertake pair (New, make_pair (i-1, 1-1)); // Update the details of this cell cel Details U-11.f = New; cellDetails-2.0-11.8 =gNew; cellDetails[i-[i-1].h = h New; cellDetails[i-10-1).parent_i= i; cellDetails[i-111-11.parent] = 1 // If the successor is already on the closed // list or if it is blocked, then ignore it. // Else do the following else if (closedList[i+1][i+1] == false&& shoelestesgrid, i+1, j+1) == true) { { gNew = cell Detailstil & + 1.414; hNew = calculats Valueli+1, j+1, dest); fNew = gNew+hNew; 1/--------- 6th Successor (North-West) -------- - // Only process this cell if this is a valid one if (Xalid. (i-1.j-1) = true) { // If the destination cell is the same as the // current successor if destination (1-1, 1-1, sest) ==true) // If it isn't on the open list, add it to // the open list. Make the current square // the parent of this square. Record the // f, g, and h costs of the square cell // OR // If it is on the open list already, check // to see if this path to that square is better, // Set the Parent of the destination cell cellDetails[i-1-1). Basah } // using 'f cost as the measure. if (cellDetails[i+1][i-1].f == FLT_MAX || cell Details[i+111i+1].f > New) 1 seedlist.oastaks.Bailey Jualorric.(i+1,1-1111: // Else do the following else if (sleadblati+11 - 1) == false&R odlaskasigrid, i+1, 1-1) = true) if (foundDest == false) Briott "Failed to find the Destination Cell "); return; } Nex Escudetailstotis - 1,414; budex = calculatexovucdj +1,1-1, dest); fNew =gNew+hNew; // Update the details of this cell cel Details[i+1][i+1]. = (New cell Details[i+1+1. = des cellDetails[i+1.10+1).h - biex cell Details[i+10+1).saveti cel Details[i+20+1). Barsat = 1; // Driver program to test above function int main { /* Description of the Grid 1--> The cell is not blacked 0--> The cell is blocked / int grid ROW][COL) = // If it isn't on the open list, add it to // the open list. Make the current square // the parent of this square. Record the // f, g, and h costs of the square cell // OR // If it is on the open list already, check // to see if this path to that square is better, // using 'f cost as the measure. if (cellBetailsli+100-11.f == FLT_MAX 11 Selldetailsli+111 - 11.1 > New) { openlist.insert(make_gar (New, make_pair(i+1, j-1)}); } //-------- Sth Successor (South-West) 0,1,1,1,1,0,1,1,1). 1,1,1,0,1,1,1,0,1,1). 11,1,1,0,1,1,0,1,0,1). 19.0,1,0,1,0,0,0,0,1). 1,1,1,0,1,1,1,0,1,0). W,0,1,1,1,1,0,1,0,0). W,0,0,0,0,1,0,0,0,1), W,0,1,1,1,1,0,1,1,1). 11,1,1,0,0,0,1,0,0,1) }; // Only process this cell if this is a valid one if (isValid (i+1, j-1) == true) { // If the destination cell is the same as the // current successor if Restaatioasi+1,1-1, dest) == true) [ // Set the Parent of the destination cell cellDetails[i+110-11.parent_i=i cellDetails[i+1][i-11.parent j =j; Britt "The destination pathways from klia to new york "); sacePathleell Details, dest); found Dest = true; return; } // Update the details of this cell cellDetails[i+111-1].f = New; cellDetails[i+14-11-8 =gNew; cellDetails[i+110-1).h = hNew; cell Details[i+1.10-11.parent_i= i; cell Details[i+2.00-11.parent j = 1; // Source is the left-most bottom-most corner Pair src = make_gaido, 2); // Destination is the left-most top-most corner Pair dest=make_Baido, 8); aStar Search grid, , dest; // When the destination cell is not found and the open // list is empty, then we conclude that we failed to // reach the destiantion cell. This may happen when the // there is no way to destination cell (due to blockages) Usto; // If the successor is already on the closed // list or if it is blocked, then ignore it. } "Explain the A' Search Algorithm Coding below while Weeldetails[raw][coll.Barsat = row && seu Detailstrow][collessati == col) // A C++ Program to implement A* Search Algorithm #include using namespace std; baal Baskedrint grid COL), int row, int col) { // Returns true if the cell is not blocked else false if (grid row][col] == 1) return (true); else return false); } Path.eushouse.Raic (row.col); int terecey-slastallstrow][coll.Barsat int temesgl = seletalstrowall Barsat row = tertawe colteorol #define ROW 9 #define COL 10 } // Creating a shortcut for int, int pair type typedef pairint, int> Pair; Pash Bush bachair (row, coll); while Pathemat // Creating a shortcut for pairint, pair int, int>> type typedef pair double, pairint, int>> Blair // A Utility Function to check whether destination cell has // been reached or not baal is destinatie lint row, int col, Pairseas 1 if (row == dest.fic && coldsstueseos) return (true); else return false; } } pairinti p = Pasturell: Path.Berl; Britt-> (%) e fictBuzecead): 1 return; } // A structure to hold the necesary parameters struct cell { // Row and Column index of its parent // Note that 0 i 0) && {row = 0) && col Path; // A Utility Function to check whether the given cellis // blocked or not Britt ('Destination is invalidn"); return; SURatildi. Barsat -1; SUDAtalatil Barent=-1; 1 // Add this vertex to the closed list L = Buceod.ficuti j = B.secondescendi slasedbullil = true; } // Either the source or the destination is blocked if Oslo Blacked grid, satirst seassand) == false || oblastestlerid, sestficat este ceod) == false) Generating all the success of this cell Brintf("Source or the destination is blocked "); " return; // Initialising the parameters of the starting nade ja sofisticand: Details of = 0.0; SsRetail = 0.0; Se Dateistih = 0.0; Reteisiti. Barents se Details Bausati = 1; N.W NNE 1 W---destination // If the destination cell is the same as source cell if ixRestinationscadist seisund ess) -- true) S.W S S.E Britt ("We are already at the destination "); return; > / Create an open list having information as- > where fagh, and j are the row and column index of that cell Note that 0 Papped Cell , > N-Neuth (1-1,1) S-South E-ass W-West (i-1) N.E--> North-East 0-1.j-1) N.W--> North-West, j-1.j-1) S.E--> South-East (1+1,i+1] S.W--> South-West +1,-1) // Put the starting cell on the open list and set its // 'Pas o Bredbitiosastoto gric (0.0, neberat : // Declare a 2D array of structure to hold the details // of that cell cell selle ROW][COL: // We set this boalean value as false as initially // the destination is not reached. bool teuadsst = false; // Ta store the 's', 'h' and of the successors double sex, biex Now: inti //----------- 1st Successor (North) for (i=0; i New { { sasabiatjosatlabaiche Jake Baici-1, 1)); // If the destination cell is the same as the // current successor if ixRestination +1.1seat) == true) { // Set the Parent of the destination cell cellDetails[i+1.101 Barsat = 1; cellDetails[i+1.161-Barsat -1; Briott'The destination pathways from lig to new yorkin") Gracelath(cell Details, dest: trud Rest=true; return; } // If the successor is already on the closed // list or if it is blocked, then ignare it. // Else do the following else if (clazslistli+220) == false&& Unblocked grid, 1+1, il a true [ biex = cel Details.8 1.0; bidex = selawata Walusu+1, sest New = NexNex // Only process this cell if this is a valid one italid.C+1) == true) { // If the destination cell is the same as the // current successor if Restitooli+1, sest) == true) [ // Set the Parent of the destination cell cellDetails(0+1 Barsat i = 0 cellDetails0+1 1.assat i = 1; Briott The destination pathways from klia to new york "); sacelath(cell Details, dest); found Dest=true; return; } // Update the details of this cell cellDetails-2.00. New cellDetails 10). cellDetails-220. =bbles // If it isn't on the open list, add it to // the open list. Make the current square // the parent of this square. Record the // f, g, and h costs of the square cell // if the successor is already on the closed { // list or if it is blocked, then ignore it. // Else do the following else if (sleadb00+1) == false&& oblastest grid, ii+1) == true) C &lex = cel Details - 1.0 bdex = calculate valus. i j+1, New = Nex+hNex // If the destination cell is the same as the // current successor if (is Destination 1. ss) true) { // Set the Parent of the destination cell cellDetails[i][i-11. Barsat = 1 cellDetails 0-1 Barsatel: Briott'The destination pathways from lig to new yakn"); Hacekatticell Details, dest); Ruod Rest = true; return; } // Update the details of this cell cellDetails14 cellDetails(-168-lex. cellDetails(t-1).h = blev cellDetailst-188 sati cel Detailstil-1 Leatsuki- j; } } 1/---------- Sth Successor (North-East) ----------- // If it isn't on the open list, add it to // the open list. Make the current square // the parent of this square. Record the // f, g, and h costs of the square cell 11 OR // If it is on the open list already, check // to see if this path to that square is better, // using 'f cost as the measure. if (cellDetails()+1/4 FLT_MAX || cel Details +11.6 > New { Bredlist.oastlabsichewa make Rei (+1))); // If the successor is already on the closed // list or if it is blocked, then ignore it. // Else do the following else if (sleadblatt-1) == false&& iskoloskedigrid, 1-1) = true) { sex = cell Detailsos + 1.0 bidex = calculate Valueli 1-1, eest; New sex Nex // Only process this cell if this is a valid one if (Xalid -1,1+1) == true) { // If the destination cell is the same as the // current successor if Us Restination-1.j+1, dout) == true) { // Set the Parent of the destination cell cellDetails[i-110+1).eaceful cellDetails[i-1]+1).parent = 1; printf ("The destination pathways from kliato new york "); tracePath (cellDetails, dest); found Dest = true; return; } // Update the details of this cell cellDetailslili+1W = New cell Details Ut+18 sex cellDetailst+1).h = hex cell Details Uti+1 Baceuti=i cel Details(+11.escent i = 1; 1 // If it isn't on the open list, add it to // the open list. Make the current square // the parent of this square. Record the //f,g, and h costs of the square cell // OR // If it is on the open list already, check // to see if this path to that square is better, // using 'f cost as the measure. if (cellDetails()-1 == FLT_MAX 11 cellDetails-111 > IN { Basatiat.satlakosaic (New Buksaic (11-13) // if the successor is already on the closed // list or if it is blocked, then ignare it. // Else do the following else if (closedList[i-116+1) == false && isoleskeskgrid, 1-1, j+1) == true) { gNew = cell Details.8 1.414; hNew = calculateValued-1, J+1, dest); 4th Successor (West) // Only process this cell if this is a valid one if (Xalidt1-1) == true) ENsw = Nex+hNex } cellDetails[i-330-1) Barsat =j: Briott "The destination pathways from clis to new york "); sacelath.(cel Details, sosti found Rest = true; return; 1/-------7th Successor (South-East) } // If it isn't on the open list, add it to // the open list. Make the current square // the parent of this square. Record the //f,g, and h costs of the square cell OR // If it is on the open list already, check // to see if this path to that square is better, // using 'f cost as the measure. if (cellDetails[i-1111+1).f == FLT_MAX cellDetailsi-110+1).flex) { Basalitaartabsic (w wake.baidj-1,i+1])); // If the successor is already on the closed // list or if it is blocked, then ignore it. // Else do the following else if (clasesbistri-110-1) == false&& iskollaskeskgrid, 1-1, 1-1) == true) // Only process this cell if this is a valid one if (isValid(i+1, 3+1) == true) { // If the destination cell is the same as the // current successor if Restinations +1, +1, dest) == true) { // Set the Parent of the destination cell cellDetails[i+1.10+1).parent_i= 1; cell Details[i+100+1).parent_j = 1; eciatt. ("The destination pathways from lig to new york "); tracePath (cel Details, dest); found Dest = true; return; } biex = cel Detailstati,8 + 1.414; dex = calculats Value:-1,-1, saate: INsx=gNew+hNew; // Update the details of this cell cel Details[i-1i+1].f = New cel Details - 1.00 +1)-8=desc cellDetails[i-1][i+1].h = billex cell Details-2.00+11 Barat = 1; cellDetails-J+11Barsat = 1; } // If it isn't on the open list, add it to // the open list. Make the current square // the parent of this square. Record the // f, g, and h costs of the square cell // OR // If it is on the open list already, check // to see if this path to that square is better, // using 'f cost as the measure. if (cell Details[i-111-1).f == FLT_MAX || cell Details[i-110-1].f> New) 1 openlist.insertake pair (New, make_pair (i-1, 1-1)); // Update the details of this cell cel Details U-11.f = New; cellDetails-2.0-11.8 =gNew; cellDetails[i-[i-1].h = h New; cellDetails[i-10-1).parent_i= i; cellDetails[i-111-11.parent] = 1 // If the successor is already on the closed // list or if it is blocked, then ignore it. // Else do the following else if (closedList[i+1][i+1] == false&& shoelestesgrid, i+1, j+1) == true) { { gNew = cell Detailstil & + 1.414; hNew = calculats Valueli+1, j+1, dest); fNew = gNew+hNew; 1/--------- 6th Successor (North-West) -------- - // Only process this cell if this is a valid one if (Xalid. (i-1.j-1) = true) { // If the destination cell is the same as the // current successor if destination (1-1, 1-1, sest) ==true) // If it isn't on the open list, add it to // the open list. Make the current square // the parent of this square. Record the // f, g, and h costs of the square cell // OR // If it is on the open list already, check // to see if this path to that square is better, // Set the Parent of the destination cell cellDetails[i-1-1). Basah } // using 'f cost as the measure. if (cellDetails[i+1][i-1].f == FLT_MAX || cell Details[i+111i+1].f > New) 1 seedlist.oastaks.Bailey Jualorric.(i+1,1-1111: // Else do the following else if (sleadblati+11 - 1) == false&R odlaskasigrid, i+1, 1-1) = true) if (foundDest == false) Briott "Failed to find the Destination Cell "); return; } Nex Escudetailstotis - 1,414; budex = calculatexovucdj +1,1-1, dest); fNew =gNew+hNew; // Update the details of this cell cel Details[i+1][i+1]. = (New cell Details[i+1+1. = des cellDetails[i+1.10+1).h - biex cell Details[i+10+1).saveti cel Details[i+20+1). Barsat = 1; // Driver program to test above function int main { /* Description of the Grid 1--> The cell is not blacked 0--> The cell is blocked / int grid ROW][COL) = // If it isn't on the open list, add it to // the open list. Make the current square // the parent of this square. Record the // f, g, and h costs of the square cell // OR // If it is on the open list already, check // to see if this path to that square is better, // using 'f cost as the measure. if (cellBetailsli+100-11.f == FLT_MAX 11 Selldetailsli+111 - 11.1 > New) { openlist.insert(make_gar (New, make_pair(i+1, j-1)}); } //-------- Sth Successor (South-West) 0,1,1,1,1,0,1,1,1). 1,1,1,0,1,1,1,0,1,1). 11,1,1,0,1,1,0,1,0,1). 19.0,1,0,1,0,0,0,0,1). 1,1,1,0,1,1,1,0,1,0). W,0,1,1,1,1,0,1,0,0). W,0,0,0,0,1,0,0,0,1), W,0,1,1,1,1,0,1,1,1). 11,1,1,0,0,0,1,0,0,1) }; // Only process this cell if this is a valid one if (isValid (i+1, j-1) == true) { // If the destination cell is the same as the // current successor if Restaatioasi+1,1-1, dest) == true) [ // Set the Parent of the destination cell cellDetails[i+110-11.parent_i=i cellDetails[i+1][i-11.parent j =j; Britt "The destination pathways from klia to new york "); sacePathleell Details, dest); found Dest = true; return; } // Update the details of this cell cellDetails[i+111-1].f = New; cellDetails[i+14-11-8 =gNew; cellDetails[i+110-1).h = hNew; cell Details[i+1.10-11.parent_i= i; cell Details[i+2.00-11.parent j = 1; // Source is the left-most bottom-most corner Pair src = make_gaido, 2); // Destination is the left-most top-most corner Pair dest=make_Baido, 8); aStar Search grid, , dest; // When the destination cell is not found and the open // list is empty, then we conclude that we failed to // reach the destiantion cell. This may happen when the // there is no way to destination cell (due to blockages) Usto; // If the successor is already on the closed // list or if it is blocked, then ignore it. }