public int Calc_H(World w, GridSearchNode gridNode)
{
var bcc = new BiconnectedComponents(w, gridNode);
if (!bcc.LinearLocationWasVisitedDuringBuild(w.Goal))
{
if (gridNode is RsdGridSearchNode)
{
((RsdGridSearchNode)gridNode).Reachable = new BitArray(w.LinearSize); //TODO: head location valid?
}
return(0); //Goal not reachable
}
var valid = bcc.GetValidPlacesForMaxPath(gridNode.HeadLocation, w.Goal);
int validCount = 0;
foreach (var linearLocation in valid)
{
if (linearLocation)
{
validCount++;
}
}
if (validCount > 0)
{
validCount--; //Minus 1 because we are counting the head location too
}
if (gridNode is RsdGridSearchNode)
{
((RsdGridSearchNode)gridNode).Reachable = new BitArray(valid); //TODO: head location valid?
}
return(validCount); //Minus 1 because we are counting the head location too
}
public void InitBcc()
{
var bcc = new BiconnectedComponents(this);
var valid = bcc.GetValidPlacesForMaxPath(Start, Goal);
for (int i = 0; i < valid.Length; i++)
{
if (!valid[i])
{
_isPostBccInitBlockedLocations[i] = true;
}
}
}
public int Calc_H(World w, GridSearchNode gridNode)
{
var bcc = new BiconnectedComponents(w, gridNode);
if (!bcc.LinearLocationWasVisitedDuringBuild(w.Goal))
{
if (gridNode is RsdGridSearchNode)
{
((RsdGridSearchNode)gridNode).Reachable = new BitArray(w.LinearSize);
}
return(0); //Goal not reachable
}
var valid = bcc.GetValidPlacesForMaxPath(gridNode.HeadLocation, w.Goal);
//instead of g we will count odd and even separatly
int odd = 0;
int even = 0;
int head = gridNode.HeadLocation.GetLinearLocationRepresentation(w);
for (int i = 0; i < valid.Length; i++)
{
if (valid[i])
{
if (i == head)
{
continue;
}
if (IsEvenLocation(w, i))
{
even++;
}
else
{
odd++;
}
}
}
if (gridNode is RsdGridSearchNode)
{
((RsdGridSearchNode)gridNode).Reachable = new BitArray(valid); //TODO: head location valid?
}
bool firstStepEven = !IsEvenLocation(w, head);
bool goalEven = IsEvenLocation(w, w.Goal.GetLinearLocationRepresentation(w));
return(AlternateStepsHeuristic.CalculateAlternateStepHeuristic(firstStepEven, goalEven, odd, even));
}
public int Calc_H(World w, GridSearchNode gridNode)
{
var bcc = new BiconnectedComponents(w, gridNode);
if (!bcc.LinearLocationWasVisitedDuringBuild(w.Goal))
{
if (gridNode is RsdGridSearchNode)
{
((RsdGridSearchNode)gridNode).Reachable = new BitArray(w.LinearSize);
}
return(0); //Goal not reachable
}
var bct = bcc.GetMaxPathBlockCutTree(gridNode.HeadLocation, w.Goal);
//instead of g we will count odd and even separatly
int h = 0;
for (int i = 0; i + 2 < bct.Count; i += 2)
{
int head = bct.ElementAt(i)[0];
var firstStepEven = !IsEvenLocation(w, head);
var goalEven = IsEvenLocation(w, bct.ElementAt(i + 2)[0]);
int odd = 0;
int even = 0;
var currBlk = bct.ElementAt(i + 1);
for (int j = 0; j < currBlk.Length; j++)
{
if (currBlk[j] == head)
{
continue;
}
if (IsEvenLocation(w, currBlk[j]))
{
even++;
}
else
{
odd++;
}
}
h += AlternateStepsHeuristic.CalculateAlternateStepHeuristic(firstStepEven, goalEven, odd, even);
}
if (gridNode is RsdGridSearchNode)
{
((RsdGridSearchNode)gridNode).Reachable = new BitArray(w.LinearSize);
for (int i = 0; i + 1 < bct.Count; i += 2)
{
var currBlk = bct.ElementAt(i + 1);
for (int j = 0; j < currBlk.Length; j++)
{
((RsdGridSearchNode)gridNode).Reachable[currBlk[j]] = true;
}
}
}
return(h);
}
