/// <summary>
/// Updates the vertex.
/// </summary>
/// <param name='node'>
/// Node to be updated
/// </param>
void UpdateVertex(ARAstarNode node)
{
//[06]
if (!currentStart.Equals(node.action.state))
{
float minCost = Mathf.Infinity;
//List<DefaultState> neighbors = new List<DefaultState>();
//domain.generateNeighbors(node.action.state, ref neighbors);
List <DefaultAction> transitions = new List <DefaultAction>();
selectedPlanningDomain.generatePredecessors(node.action.state, ref transitions);
foreach (DefaultAction action in transitions)
{
if (Visited.ContainsState(action.state)) //Was visited
{
if (Visited.nodeForState(action.state).g + action.cost < minCost && !Visited.nodeForState(action.state).previousState.Equals(node.action.state))
{
minCost = Visited.nodeForState(action.state).g + action.cost;
node.previousState = action.state;
}
}
}
//node.action = new ARAstarAction(node.previousState, node.action.state);
node.action = selectedPlanningDomain.generateAction(node.previousState, node.action.state);
node.rhs = minCost;
}
if (selectedPlanningDomain.equals(node.action.state, goalState, false))
{
goalPair = new KeyValuePair <DefaultState, ARAstarNode> (node.action.state, node);
}
if (Open.ContainsState(node.action.state))
{
Open.Remove(node.action.state);
}
if (node.g != node.rhs)
{
if (!Close.Contains(node.action.state))
{
Open.Insert(node);
}
else
{
Incons.Insert(node);
}
}
Visited.insertNode(ref node);
}
