// this searchs a graph using the distance between the target node and the
// currently considered node as a heuristic.
// This search is more commonly known as A* (pronounced Ay-Star)
public Graph_SearchAStar(SparseGraph graph, int source, int target, CalculateHeuristic functionCalculate)
: base(graph, source, target)
{
funcPointer = functionCalculate;
int numNodes = m_Graph.NumNodes();
m_ShortestPathTree = new List <NavGraphEdge>(numNodes);
m_SearchFrontier = new List <NavGraphEdge>(numNodes);
m_GCosts = new List <double>(numNodes);
m_FCosts = new List <double>(numNodes);
for (int i = 0; i < numNodes; i++)
{
m_ShortestPathTree.Add(null);
m_SearchFrontier.Add(null);
m_GCosts.Add(0.0);
m_FCosts.Add(0.0);
}
m_bFound = Search();
}
// this searchs a graph using the distance between the target node and the
// currently considered node as a heuristic.
// This search is more commonly known as A* (pronounced Ay-Star)
public Graph_SearchAStar(SparseGraph graph, int source, int target, CalculateHeuristic functionCalculate)
: base(graph, source, target)
{
funcPointer = functionCalculate;
int numNodes = m_Graph.NumNodes();
m_ShortestPathTree = new List<NavGraphEdge>(numNodes);
m_SearchFrontier = new List<NavGraphEdge>(numNodes);
m_GCosts = new List<double>(numNodes);
m_FCosts = new List<double>(numNodes);
for (int i = 0; i < numNodes; i++)
{
m_ShortestPathTree.Add(null);
m_SearchFrontier.Add(null);
m_GCosts.Add(0.0);
m_FCosts.Add(0.0);
}
m_bFound = Search();
}
