public Path run()
{
Graph graph = new Graph(_xinit, new RectangleNode());
//Boolean busy = false;
RectangleNode node = null;
RectangleNode newnode = null;
bestSoFar = graph.getRandomNode(node);
for (int iter = 0; iter < _maxiter; iter++)
{
//if (busy)
// node = newnode;
//else
node = graph.getRandomNode(node);
if (node == null)
{
return(minimizePath(graph.traceBack(bestSoFar)));
}
newnode = _tactics.apply(node, _domain, graph); //or only node?
if (newnode == null)
{
continue;
}
//busy = newnode.isBusy();
if (_validator.validate(newnode, node, _domain, graph))
{
graph.addNode(newnode, node, newnode.getState().getAction());
if (newnode.getState().numberOfCollectibles() < bestSoFar.getState().numberOfCollectibles())
{
bestSoFar = newnode;
}
// GOAL ACHIEVED
if (newnode.getState().numberOfCollectibles() == 0)
{
return(minimizePath(graph.traceBack(newnode)));
}
}
//else
//{
// //busy = node.isBusy();
// //if (busy)
// // graph.rollBack(node);
// //busy = false;
// if (node.isBusy())
// graph.rollBack(node);
//}
}
return(minimizePath(graph.traceBack(bestSoFar)));
}