public void deleteNode(CircleNode n)
{
CircleNode parent = n.getParent();
parent.removeEdge(n);
this._nodes.Remove(n);
}
public override Boolean validate(CircleNode newnode, CircleNode oldnode, InfoDomain domain, Graph graph)
{
State newstate = newnode.getState();
State oldstate = oldnode.getState();
if (outsideOfMap(newstate))
{
return(false);
}
else
{
if (isVerticalMovement(oldstate, newstate) || newstate.getAction() == 2)
{
if (thereIsWallBetweenV(newstate, oldstate, domain))
{
return(false);
}
else
{
return(true);
}
}
else
{
if (thereIsWallBetweenH(newstate, oldstate, domain))
{
return(false);
}
else
{
return(true);
}
}
}
}
public void addEdge(CircleNode child, int action)
{
CircleEdge newEdge = new CircleEdge(this, child, action);
newEdge.setBusy();
this._edges.Add(newEdge);
child.setParent(this);
}
public Graph(State inicial, CircleNode n)
{
this._nodes = new ArrayList();
this._nonBusyNodes = new ArrayList();
CircleNode initialNode = new CircleNode(inicial);
this._nodes.Add(initialNode);
this._nonBusyNodes.Add(initialNode);
this._rnd = new Random();
}
public bool isConnected(CircleNode n)
{
foreach (CircleEdge i in this._edges)
{
if (i.getChild().Equals(n)) // Might need implementation of Equals in order to guarantee functionality
{
return(true);
}
}
return(false);
}
public void removeEdge(CircleNode child)
{
foreach (CircleEdge i in this._edges)
{
if (i.getChild().Equals(child))
{
this._edges.Remove(i);
return;
}
}
}
public void addNode(CircleNode childNode, CircleNode parent, int action)
{
if (this.getSize() == 0)
{
this._nodes.Add(parent);
}
this._nodes.Add(childNode);
parent.addEdge(childNode, action);
childNode.setParent(parent);
_nonBusyNodes.Add(childNode);
}
public CircleNode(State s)
{
this._edges = new ArrayList();
this._parent = null;
this._state = s;
this._busyActions = new bool[5];
_busyActions[0] = false;
_busyActions[1] = false;
_busyActions[2] = false;
_busyActions[3] = false;
_busyActions[4] = true;
}
public CircleNode getRandomNode(CircleNode n)
{
// Infinite loop if all Nodes have all their actions explored
if (this._nonBusyNodes.Count > 0)
{
return((CircleNode)this._nonBusyNodes[this.getRandomNumber(this._nonBusyNodes.Count)]);
}
else
{
return(null);
}
}
public void rollBack(CircleNode n)
{
CircleNode a = n;
while (a.isBusy())
{
CircleNode parent = a.getParent();
this.deleteNode(a);
a = parent;
}
return;
}
private Path recursiveTraceBack(CircleNode goalNode, Path l)
{
if (goalNode.getParent() == null)
{
l.AddNewPoint(goalNode.getState().point);
return(l);
}
else
{
this.recursiveTraceBack(goalNode.getParent(), l);
l.AddNewPoint(goalNode.getState().point);
if (goalNode.getParent().getParent() != null)
{
if (goalNode.getParent().getState().getVelocityX() != goalNode.getState().getVelocityX() && goalNode.getParent().getState().getPosY() >= goalNode.getState().getPosY())
{
goalNode.getParent().getState().point.TurningPoint = true;
}
}
return(l);
}
}
abstract public CircleNode apply(CircleNode Xinit, InfoDomain _domain, Graph graph);
public void setParent(CircleNode p)
{
this._parent = p;
}
public Path traceBack(CircleNode goalNode)
{
Path l = new Path();
return(recursiveTraceBack(goalNode, l));
}
public override Boolean validate(CircleNode newnode, CircleNode oldnode, InfoDomain domain, Graph graph)
{
return(false);
}
abstract public Boolean validate(CircleNode newnode, CircleNode oldnode, InfoDomain domain, Graph graph);
public override CircleNode apply(CircleNode Xinit, InfoDomain _domain, Graph graph)
{
return(null);
}
