// insert a new node, such as start or target, to the abstract graph and
// returns the id of the newly created node in the abstract graph
// x and y are the positions where I want to put the node
private Id <AbstractNode> InsertNodeIntoHierarchicalMap(HierarchicalMap map, Id <ConcreteNode> concreteNodeId, Position pos)
{
// If the node already existed (for instance, it was the an entrance point already
// existing in the graph, we need to keep track of the previous status in order
// to be able to restore it once we delete this STAL
if (map.ConcreteNodeIdToAbstractNodeIdMap.ContainsKey(concreteNodeId))
{
var existingAbstractNodeId = map.ConcreteNodeIdToAbstractNodeIdMap[concreteNodeId];
var nodeBackup = new NodeBackup(
map.AbstractGraph.GetNodeInfo(existingAbstractNodeId).Level,
map.GetNodeEdges(concreteNodeId));
nodeBackups[existingAbstractNodeId] = nodeBackup;
return(map.ConcreteNodeIdToAbstractNodeIdMap[concreteNodeId]);
}
var cluster = map.FindClusterForPosition(pos);
// create global entrance
var abstractNodeId = Id <AbstractNode> .From(map.NrNodes);
var entrance = cluster.AddEntrance(abstractNodeId, new Position(pos.X - cluster.Origin.X, pos.Y - cluster.Origin.Y));
cluster.UpdatePathsForLocalEntrance(entrance);
map.ConcreteNodeIdToAbstractNodeIdMap[concreteNodeId] = abstractNodeId;
var info = new AbstractNodeInfo(
abstractNodeId,
1,
cluster.Id,
pos,
concreteNodeId);
map.AbstractGraph.AddNode(abstractNodeId, info);
foreach (var entrancePoint in cluster.EntrancePoints)
{
if (cluster.AreConnected(abstractNodeId, entrancePoint.AbstractNodeId))
{
map.AddEdge(
entrancePoint.AbstractNodeId,
abstractNodeId,
cluster.GetDistance(entrancePoint.AbstractNodeId, abstractNodeId));
map.AddEdge(
abstractNodeId,
entrancePoint.AbstractNodeId,
cluster.GetDistance(abstractNodeId, entrancePoint.AbstractNodeId));
}
}
return(abstractNodeId);
}
