//-------------------------------------------------------------------\
private List <int> GetPseudoRoute(ref MeshEnvironment env)
{
//Pseudo route //Random Process
List <int> pseudo_route = new List <int>();
pseudo_route.Add(env.start_node);
int i = 0;
int random_idx = -1;
Double current_proximity = env.CalculateProximity(env.start_node);
//Init the loop from the initial node and chose a node randomly
while (i < num_random_nodes && random_idx != env.final_node - 1)
{
//In each step, I verify that the new random node is farther than the previous one, checking the proximity value of that node.
random_idx = random.Next(pseudo_route[pseudo_route.Count - 1], env.final_node);
Double next_proximity = env.CalculateProximity(random_idx);
if (!env.obstacles.Contains(random_idx) && !pseudo_route.Contains(random_idx) && next_proximity < current_proximity)
{
//Only add the a new random node that it is further that the previous one
pseudo_route.Add(random_idx);
i++;
current_proximity = next_proximity;
}
}
//At the end, add the final node
pseudo_route.Add(env.final_node);
return(pseudo_route);
}
//-------------------------------------------------------------------\
private List <int> GetPseudoRoute(ref MeshEnvironment env)
{
//Pseudo ruta //Random Process
List <int> pseudo_route = new List <int>();
pseudo_route.Add(env.start_node);
int i = 0;
int random_idx = -1;
Double current_proximity = env.CalculateProximity(env.start_node);
while (i < num_random_nodes && random_idx != env.final_node - 1)
{
random_idx = random.Next(pseudo_route[pseudo_route.Count - 1], env.final_node);
Double next_proximity = env.CalculateProximity(random_idx);
if (!env.obstacles.Contains(random_idx) && !pseudo_route.Contains(random_idx) && next_proximity < current_proximity)
{
pseudo_route.Add(random_idx);
i++;
current_proximity = next_proximity;
}
}
pseudo_route.Add(env.final_node);
return(pseudo_route);
}
//---------------------------------------------------------------------
//This function returns the neighbor node that has the best proximity value
private int FindBestNode(ref MeshEnvironment env, ref List <int> fragment_route, ref List <int> current_route, int current_node, int node2)
{
List <int> neighboors = env.world[current_node].neighboors;
List <Double> proximities = new List <Double>();
for (int i = 0; i < neighboors.Count; i++)
{
int neigh_node = neighboors[i];
Double proximity;
if (!fragment_route.Contains(neigh_node) && !current_route.Contains(neigh_node) && !env.obstacles.Contains(neigh_node))
{
proximity = env.CalculateProximity(current_node, neigh_node, node2);
}
else
{
proximity = -1;
}
proximities.Add(proximity);
}
Double max_proximity = proximities.Max();
if (max_proximity != -1)
{
int index_max1 = proximities.IndexOf(max_proximity);
return(neighboors[index_max1]);
}
else
{
return(-1);
}
}