A* search algorithm: Difference between revisions

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@@ Line 1,551: / Line 1,551: @@
    ; naive test for "is the cell is empty?"
    (define (floor? x y)
-      (let by-y ((y y) (map level))
+      (let ((line (lref level y)))
-         (cond
+         (if (pair? line)
-            ((< y 0) #true)
+            (eq? (lref line x) 0))))
-            ((null? map) #true)
-            ((= y 0)
-               (let by-x ((x x) (map (car map)))
-                  (if (< x 0) #true
-                  (if (null? map) #true
-                  (if (= x 0)
-                     (not (eq? (car map) 1))
-                  (by-x (- x 1) (cdr map)))))))
-            (else
-               (by-y (- y 1) (cdr map))))))
    (unless (equal? from to) ; search not finished yet
@@ Line 1,589: / Line 1,579: @@
                            (parent-of-parent (ref (get c-list-set (hash parent) #f) 2)))
                         (if parent-of-parent (rev parent)
-                           (cons ;[
+                           (cons
                               (- (car xy) (car parent))
-                              (- (cdr xy) (cdr parent))
+                              (- (cdr xy) (cdr parent))))))
-                              ;c-list-set
-                              ;o-list-set
-                              ))))
                   (let*((x (car xy))