public override bool Equals(Object obj)
{
// Check for null values and compare run-time types.
if (obj == null || GetType() != obj.GetType())
{
return(false);
}
SubgoalAStarNode n = (SubgoalAStarNode)obj;
if (nodeIndex != n.nodeIndex)
{
return(false);
}
if (collectedDiamonds.Count != n.collectedDiamonds.Count)
{
return(false);
}
for (int i = 0; i < collectedDiamonds.Count; i++)
{
if (collectedDiamonds[i] != n.collectedDiamonds[i])
{
return(false);
}
}
return(true);
}
public SubgoalAStar(int start, List <int> goals, int time, int diamonds)
{
//Set start and goal node-index
this.start = start;
this.goals = goals;
this.timeToLowerNoD = time;
numberOfDiamonds = goals.Count;
if (diamonds > 0)
{
numberOfDiamonds = diamonds;
}
//List of nodes evaluated
closedList = new List <SubgoalAStarNode>();
//The set of tentative nodes to be evaluated, initially containing the start node
openList = new List <SubgoalAStarNode>();
// Cost from start along best known path until current node
int gScore = 0;
// Estimated total cost from start to goal
int fScore = gScore; // + HeuristicValue(start,goal);
//Add start
//Create SubgoalAStarNode with node index, fScore value, gScore value, cameFrom node and the state of collected diamonds
SubgoalAStarNode startNode = new SubgoalAStarNode(start, fScore, gScore, null, new List <int>());
openList.Add(startNode);
}
public SubgoalAStarNode(int nodeIndex, int fScore, int gScore, SubgoalAStarNode cameFrom, List <int> collectedDiamonds)
{
this.nodeIndex = nodeIndex;
this.fScore = fScore;
this.gScore = gScore;
this.cameFrom = cameFrom;
this.collectedDiamonds = collectedDiamonds;
}
private SubgoalAStarNode LowestFScore()
{ // Searches for the lowest fScore in openList
SubgoalAStarNode lowest = openList[0];
int index = 0;
for (int i = 1; i < openList.Count; i++)
{
if (lowest.fScore > openList[i].fScore)
{
lowest = openList[i];
index = i;
}
}
//removes the node with the lowest fScore
openList.RemoveAt(index);
return(lowest);
}
private Queue <Node> Route(SubgoalAStarNode current)
{
Queue <Node> route = new Queue <Node>();
List <int> routeReversed = new List <int>();
//create a reversed route
routeReversed.Add(current.nodeIndex);
while (current.cameFrom != null)
{
current = current.cameFrom;
routeReversed.Add(current.nodeIndex);
}
//create the correct route
for (int i = routeReversed.Count - 1; i >= 0; i--)
{
route.Enqueue(SquareAgent.nodes[routeReversed[i]]);
if (output)
{
System.Diagnostics.Debug.WriteLine("Subgoal AStar - route found:" + routeReversed[i]);
}
}
return(route);
}
private Queue <Node> Route(SubgoalAStarNode current)
{
Queue <Node> route = new Queue <Node>();
List <int> routeReversed = new List <int>();
//create a reversed route
routeReversed.Add(current.nodeIndex);
while (current.cameFrom != null)
{
current = current.cameFrom;
routeReversed.Add(current.nodeIndex);
}
//create the correct route
for (int i = routeReversed.Count - 1; i >= 0; i--)
{
route.Enqueue(CircleAgent.nodes[routeReversed[i]]);
if (output)
{
Log.LogInformation("Subgoal AStar - route found:" + routeReversed[i]);
}
}
return(route);
}
//returns the euclidean distance between two nodes
//private int HeuristicValue(int start,int goal)
//{
// Node n1 = SquareAgent.nodes[start];
// Node n2 = SquareAgent.nodes[goal];
// int distance = (int)Math.Sqrt(Math.Pow(n1.getX() - n2.getX(), 2) + Math.Pow(n1.getY() - n2.getY(), 2));
// return distance;
//}
public Queue <Node> Run()
{
System.Diagnostics.Stopwatch sw = System.Diagnostics.Stopwatch.StartNew();
//while openList is not empty
while (openList.Count > 0)
{
//Lower diamonds to collected by one if time elapsed
if (sw.ElapsedMilliseconds > timeToLowerNoD)
{
numberOfDiamonds--;
sw = System.Diagnostics.Stopwatch.StartNew();
}
//Search for node in openList with lowsest fScore
SubgoalAStarNode current = LowestFScore();
//If current is goal and the number of collected diamonds is equal to the given number of diamonds to collect the route is returned
if (goals.Contains(current.nodeIndex))
{
if (numberOfDiamonds == current.collectedDiamonds.Count)
{
return(Route(current));
}
}
//Add current to closedList
closedList.Add(current);
//Get all neighbors of current
List <int> neighbors = Neighbors(current.nodeIndex);
foreach (int neighbor in neighbors)
{
//if neighbor in closedList continue
if (GetOfList(closedList, neighbor, current) != null)
{
continue;
}
// calc gScore
int tentativeGScore = current.gScore + SquareAgent.directDistanceMap[current.nodeIndex, neighbor];
//get neighbor in openList if exists
SubgoalAStarNode neighborInList = GetOfList(openList, neighbor, current);
//if neighbor is not in openList or the neighbor in the openList has a higher gScore
if (neighborInList == null || (neighborInList != null && tentativeGScore < neighborInList.gScore))
{
int gScore = tentativeGScore;
//calc new fScore
int fScore = gScore; // +HeuristicValue(neighbor, goal);
//if neighbor is not in openList, add new node
if (neighborInList == null)
{
//Copy collected diamonds so far
List <int> collDiamonds = new List <int>(current.collectedDiamonds);
SubgoalAStarNode newNode = new SubgoalAStarNode(neighbor, fScore, gScore, current, collDiamonds);
//If neighbor is a goal and not collected yet
if (goals.Contains(neighbor) && !newNode.collectedDiamonds.Contains(neighbor))
{
newNode.collectedDiamonds.Add(neighbor);
}
openList.Add(newNode);
}
//else delete old neighbor and add new one in openList
else
{
openList.Remove(neighborInList);
neighborInList.fScore = fScore;
neighborInList.gScore = gScore;
neighborInList.cameFrom = current;
//Copy collected diamonds so far
List <int> collDiamonds = new List <int>(current.collectedDiamonds);
neighborInList.collectedDiamonds = collDiamonds;
//If neighbor is a goal and not collected yet
if (goals.Contains(neighbor) && !neighborInList.collectedDiamonds.Contains(neighbor))
{
neighborInList.collectedDiamonds.Add(neighbor);
}
openList.Add(neighborInList);
}
}
}
}
if (output)
{
System.Diagnostics.Debug.WriteLine("Subgoal AStar - no route found");
}
//no route found
return(null);
}
//returns neighbor node or null if it not exists in list
private SubgoalAStarNode GetOfList(List <SubgoalAStarNode> list, int neighbor, SubgoalAStarNode current)
{
foreach (SubgoalAStarNode node in list)
{
if (node.nodeIndex == neighbor)
{
bool wrongOrder = false;
if (node.collectedDiamonds.Count != current.collectedDiamonds.Count)
{
continue;
}
for (int i = 0; i < node.collectedDiamonds.Count; i++)
{
if (node.collectedDiamonds[i] != current.collectedDiamonds[i])
{
wrongOrder = true;
break;
}
}
if (wrongOrder)
{
continue;
}
return(node);
}
}
return(null);
}