/// <summary>Given the forward and backward chains formed by bidirectional searching, joins them together and returns
/// a single forward-only solution.
/// </summary>
Node <StateType, ActionType> BuildBidirectionalSolution(Node <StateType, ActionType> start,
Node <StateType, ActionType> end)
{
// 'start' contains the solution leading back to the start node, and 'end' contains the solution leading back to
// the end node. both have the same state. we need to reverse the solution of the end node, and adjust the
// actions, depths, and costs
while (end.Parent != null)
{
Node <StateType, ActionType> nextEnd = end.Parent;
end.Action = BidiProblem.GetSuccessorAction(end.Parent.State, end.State, end.Action);
end.State = nextEnd.State;
end.PathCost = start.PathCost + (end.Parent == null ? 0 : end.PathCost - end.Parent.PathCost);
end.Depth = start.Depth + 1;
end.Parent = start;
end.HeuristicCost = nextEnd.HeuristicCost;
start = end;
end = nextEnd;
}
return(start);
}
