private int GetPathLength(AbstractNode startNode, AbstractNode goalNode)
{
clusterMap.Start = startNode.LocationL1;
clusterMap.Goal = goalNode.LocationL1;
int count;
//Call A*
List <PathFinderNode> intraPath = FGAlgorythm.GetPathByMap(clusterMap);
if (intraPath == null)
{
return(0);
}
else
{
count = intraPath.Count - 1;
//write path to AbstractGraph
List <AbstractNode> path = new List <AbstractNode>();
foreach (PathFinderNode item in intraPath)
{
Location location = new Location(item.X, item.Y, item.Z);
AbstractNode abstractNode = new AbstractNode()
{
LocationL0 = LocationConvertor.L1ToL0(location, _cluster)
};
path.Add(abstractNode);
}
AbstractGraph.IntraPathes[startNode.Id, goalNode.Id] = path;
}
return(count);
}
public static void GetPath(IMap Map)
{
//Create the copy of map for map with abstract nodes output
AbstractGraph.MapMatrixL1 = (int[, , ])Map.Matrix.Clone();
int abstractMatrixSize = (Map.Matrix.GetUpperBound(0) + 1) * 10;
//int abstractMatrixSize = Map.MaxMatrixPoint.X * Map.MaxMatrixPoint.Y;
AbstractGraph.WeightMatrix =
new int[abstractMatrixSize, abstractMatrixSize];
AbstractGraph.IntraPathes = new List <AbstractNode> [abstractMatrixSize, abstractMatrixSize];
ClusterBuilder clusterBuilder = new ClusterBuilder(Map);
AbstractGraph.Clusters = clusterBuilder.GetClusters();
StartGoalAdd startGoal = new StartGoalAdd(Map);
// ClustersIterator clustersIterator =
//new ClustersIterator(new SetEdgesWeight());
ClustersIterator clustersIterato1r =
new ClustersIterator(new SetInterEdge());
ClustersIterator clustersIterator2 =
new ClustersIterator(new SetIntraEdge());
AbstractGraph.CutMatrix();
AbstractGraph.SetNodesList();
List <PathFinderNode> abstractPath = FGAlgorythm.GetPathByGraph(new Graph1(Map));
PathConvertor pathConvertor = new PathConvertor();
List <AbstractNode> convertedPath = pathConvertor.Convert(abstractPath);
PathRefinement.Refine(convertedPath);
_ = AbstractGraph.WeightMatrix;
_ = AbstractGraph.Path;
_ = AbstractGraph.Clusters;
_ = AbstractGraph.Nodes;
_ = AbstractGraph.IntraPathes;
}
