bool sortByX(const loc loc1, const loc loc2)
{
  return (((loc1.x*100)+loc1.y)<((loc2.x*100)+loc2.y));
}

//Above is the alogorithm for sort and next_permutation

int findlength(vector<loc> dm, loc robot)//finds total length of a path and returns as an int
{
  int length=0;
  length = ((abs(robot.x-dm[0].x))+(abs(robot.y-dm[0].y)));
  for (int x=0; x<10; x++)//could be x<dm.size() for scaleabilty, but that seems outside the scope of project
  {
    length = length + ((abs(dm[x].x-dm[x+1].x))+(abs(dm[x].y-dm[x+1].y)));
  }

  return length;
}

void determineRoute(vector <loc> dm, loc robot)
{
  int shortestlength = findlength(dm,robot);
  int curlength;
  cout << shortestlength << endl;
  for (int x=0; x<=3628800; x++) // <= value is 10!, since that's the number of paths for 10 diamonds, could be dm.size()!
//WARNING: Doing dm.size()! would quickly take up too much memeory for non-trivial sizes of dm, because TSP is NP-hard
  {
    next_permutation(dm.begin(),dm.end(),sortByX);
    curlength = findlength(dm,robot);

    if (curlength<shortestlength)
    {
      shortestlength = curlength;
      TSP = dm; // Yay Vectors!
    }
  }
}

action choose_next_step(int w, int h, loc robot, vector<loc> dm, ostream &log)
{
  if (firstrun)
    {
      sort(dm.begin(),dm.end(),sortByX);
      determineRoute(dm, robot);
      firstrun=false;