public override bool Equals(object obj)
{
MMStarConstraint other = (MMStarConstraint)obj;
if (this.agentNum != other.agentNum)
{
return(false);
}
if (this.vertexConflict || other.vertexConflict) // This way if the constraint is a vertex constraint than it will be equal to a query containing a move from any direction to that position,
// and if it is an edge constraint than it will only be equal to queries containing a move from that specific direction to that position.
{
return(this.move.Equals(other.move));
}
else // A vertex constraint is different to an edge constraint for the same agentNum and position.
// Must check the direction explicitly because vertex constraints have no direction and moves with no direction
// compare equal to moves with any direction
{
return(this.move.Equals(other.move) && this.move.direction == other.move.direction);
}
}
private bool Expand
(
MAM_AgentState node
)
{
MMStarConstraint queryConstraint = new MMStarConstraint(node.agentIndex, node.lastMove.x, node.lastMove.y, node.lastMove.direction, node.lastMove.time);
if (constraints.Contains(queryConstraint))
{
return(false);
}
if (expandedNodes.Contains(node))
{
nodesExpanded--;
return(false);
}
expandedNodes.Add(node);
foreach (MAM_AgentState child in node.GetChildrenStates())
{
Generate(node, child);
}
return(true);
}
