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);
}
}
}
}
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);
}
}