############################
vessel_findWayBack<-function(goalposind,fieldpointers, field){
# This function will follow the pointers from the goal position to the
# starting position
n <-dim(fieldpointers)[1] # length of the field
m <-dim(fieldpointers)[2]
posind <- goalposind
# convert linear index into [row column]
py <- ((posind-1) %% n)+1
px <- floor((posind-1)/n) +1
# store initial position
p <-c(py,px)
cost <-0
# until we are at the starting position
while (fieldpointers[posind] != 'S'){
if (fieldpointers[posind] == 'L') # move left
{
px <- px-1;
} else if (fieldpointers[posind] == 'R') # move right
{
px <- px+1
} else if (fieldpointers[posind] == 'U') # move up
{
py <- py - 1
} else if (fieldpointers[posind] == 'D') # move down
{
py <- py +1
}
else if (fieldpointers[posind] == 'RU') #
{
px <- px + 1
py <- py - 1
}
else if (fieldpointers[posind] == 'RD') #
{
px <- px + 1
py <- py + 1
}
else if (fieldpointers[posind] == 'LU') #
{
px <- px - 1
py <- py - 1
}
else if (fieldpointers[posind] == 'LD') #
{
px <- px - 1
py <- py + 1
}
pstep<-c(py, px)
p <-rbind(p, pstep)
cost = cost+field[py,px]
posind <-(px-1)*n+py
# end of this function
}
return(p)
}
############################
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