function hMap = djikstra(B,R)
fprintf('In Dijkstra');
hMap = Inf(length(B));
hMap(R(1),R(2)) = 0 ;
open = [];
open = [R(1),R(2),0];
closed = [];
closed = [closed; open(1,1:2)];
x = R(1);
y = R(2);
while(size(open) ~= 0)
if(x-1 ~=0)
if(sum(ismember(closed(:,1:2),[x-1,y],'rows'))== 0)
cost = hMap(x,y)+ B(x-1,y);
hMap(x-1,y) = min(cost,hMap(x-1,y));
open = [open;x-1,y,hMap(x-1,y)];
end
end
if(x+1 <= length(B))
if(sum(ismember(closed(:,1:2),[x+1,y],'rows'))== 0)
cost = hMap(x,y)+ B(x+1,y) ;
hMap(x+1,y) = min(cost,hMap(x+1,y));
open = [open;x+1,y,hMap(x+1,y)];
end
end
if(y-1 ~= 0)
if(sum(ismember(closed(:,1:2),[x,y-1],'rows'))== 0)
cost = hMap(x,y)+ B(x,y-1);
hMap(x,y-1) = min(cost, hMap(x,y-1));
open = [open;x,y-1,hMap(x,y-1)] ;
end
end
if(y+1 <= length(B))
if(sum(ismember(closed(:,1:2),[x,y+1],'rows'))== 0)
cost = hMap(x,y)+ B(x,y+1);
hMap(x,y+1) = min(cost,hMap(x,y+1));
open = [open;x,y+1,hMap(x,y+1)];
end
end
closed = [closed;x,y];
open = open(2:size(open,1),:);
open = unique(open,'rows');
open = sortrows(open,3);
if(size(open) ~= 0)
x = open(1,1)
y = open(1,2)
end
end
end
