/// <summary>
/// Минимальный F(x) из колекции вершин
/// </summary>
/// <param name="array">Колекция вершин</param>
/// <returns>Следующий узел для выбора</returns>
private static NavigationWays GetMin(Dictionary <long, List <NavigationWays> > array, out long index)
{
index = -1;
NavigationWays return_value = new NavigationWays();
double min = 40076001;
foreach (var parent_item in array)
{
foreach (var item in parent_item.Value)
{
if (item.cost < min)
{
index = parent_item.Key;
min = item.cost;
return_value = item;
}
}
}
return(return_value);
}
/// <summary>
/// Нахождение пути по алгоритму А*
/// </summary>
/// <param name="tree">Граф</param>
/// <param name="start">Начальная вершина</param>
/// <param name="end">Конечная вершина</param>
/// <param name="distans">Пройденный путь</param>
/// <returns>Колекция вершин, что нужно пройти</returns>
public List <long> getWay_A(long start, long end, out double distans, ref Dictionary <long, List <NavigationWays> > Not_Look, ref Dictionary <long, List <NavigationWays> > Look, bool reverse = false)
{
List <long> way = new List <long>();
distans = 0;
char new_flag = 'f';
char other_flag = 's';
if (reverse)
{
new_flag = 's';
other_flag = 'f';
}
Not_Look = new Dictionary <long, List <NavigationWays> >();
Look = new Dictionary <long, List <NavigationWays> >();
AddOutData(ref Not_Look, start, -1, end);
long index;
NavigationWays temp = GetMin(Not_Look, out index);
tree[temp.destination_index].temp_path_crossed = tree[start][temp.destination_index];
/*if (distans < tree[index].temp_path_crossed)
* NotLook*/
if (!Look.ContainsKey(index))
{
Look.Add(index, new List <NavigationWays>());
}
Look[index].Add(temp);
Not_Look[index].Remove(temp);
long root_index;
while (index != end)
{
if (reverse_A_breaker)
{
return(way);
}
if (!blocker)
{
if (index_intersection == -1)
{
foreach (var item in Look[index])
{
AddOutData(ref Not_Look, item.destination_index, index, end);
}
if (Not_Look.Count == 0)
{
reverse_A_breaker = true;
return(way);
}
root_index = index;
temp = GetMin(Not_Look, out index);
if (!Look.ContainsKey(index))
{
Look.Add(index, new List <NavigationWays>());
}
Look[index].Add(temp);
Not_Look[index].Remove(temp);
if (Not_Look[index].Count == 0)
{
Not_Look.Remove(index);
}
//distans += tree[root_index][index];
tree[temp.destination_index].temp_path_crossed = tree[index].temp_path_crossed + tree[index][temp.destination_index];
if (tree[index].flag == other_flag)
{
index_intersection = index;
//distans = tree[root_index].temp_path_crossed+tree[root_index][index];
break;
}
tree[index].flag = new_flag;
}
else
{
break;
}
}
else
{
block_suc = true;
}
}
if (index_intersection == -1)
{
reverse_A_breaker = true;
way.Add(end);
}
else
{
way.Add(index_intersection);
}
distans = tree[way[0]].temp_path_crossed;
getNextIndex_A(Look, way[0], ref way);
way.Reverse();
return(way);
}
