static Node A_Star(Node root)
{
var goal = new Node(-1, Goal);
Open.Add(root);
while (Open.Count != 0)
{
var node = Open.First();
Closed.Add(node);
Open.RemoveAt(0);
if (node.Equals(goal))
{
return(node);
}
foreach (var child in node.GenerateChildren())
{
var nodeInOpen = Open.Where(x => x.Equals(child)).FirstOrDefault();
var nodeInClosed = Closed.Where(x => x.Equals(child)).FirstOrDefault();
if (child.Equals(goal))
{
return(child);
}
if (nodeInOpen != null)
{
if (nodeInOpen.Level > child.Level)
{
Open.Remove(nodeInOpen);
Open.Add(child);
}
}
else if (nodeInClosed != null)
{
if (nodeInClosed.Level > child.Level)
{
Closed.Remove(nodeInClosed);
Open.Add(child);
}
}
else
{
Open.Add(child);
}
}
Open.Sort((a, b) => a.FScore.CompareTo(b.FScore));
//Open= Open.OrderBy(x => x.FScore).ToList();
}
Console.WriteLine("Unsolvable problem");
return(null);
}