// Done!
#region Methods
private bool Search()
{
PriorityQueue <CognitiveState <T> > open = new PriorityQueue <CognitiveState <T> >();
IDictionary <int, CognitiveState <T> > closed = new Dictionary <int, CognitiveState <T> >(500);
// Reinicializar as variáveis
result = null;
// Vamos começar a expandir a partir deste estado!
open.Enqueue(0, start);
while (open.Count > 0)
{
// Apanhar o "melhor" estado possivel!
CognitiveState <T> node = open.Dequeue();
// Adicionar à lista de fechados! <<extension>>
closed.Add(node);
// Verificar se chegamos à solução!
if (node.IsGoal(goal))
{
result = node;
return(true);
}
// Adicionar filhos à lista de abertos!
// Depois de os filtramos é claro!
open.FilterAdd(closed, node, goal, this.agentCharacter);
}
return(false);
}
private bool SearchAStar(PriorityQueue <CognitiveState <T> > open, PriorityQueue <CognitiveState <T> > frontier)
{
IDictionary <int, CognitiveState <T> > closed = new Dictionary <int, CognitiveState <T> >(500);
while (open.Count > 0)
{
// Apanhar o "melhor" estado possivel!
CognitiveState <T> node = open.Dequeue();
// Adicionar à lista de fechados! <<extension>>
((ICollection <CognitiveState <T> >)closed).Add(node);
// Verificar se chegamos à solução!
if (node.IsGoal(goal))
{
result = node;
return(true);
}
// Adicionar filhos à lista de abertos!
// Depois de os filtramos é claro!
open.FilterAdd(closed, node, goal, this.agentCharacter);
}
cutOff += (int)Math.Ceiling(frontier.Peek().Layout.GetHeuristic(frontier.Peek().Layout, goal.Layout));
return(false);
}
// Done!
public static void Add <T>(this IDictionary <int, CognitiveState <T> > dic, CognitiveState <T> e) where T : class, ICognitiveLayout <T>
{
int key = e.Layout.GetHashCode();
if (dic.ContainsKey(key) == false)
{
dic.Add(key, e);
}
}
// Done!
#region .Ctor
public IDAStar(T start, T goal, AgentCharacter agentCharacter)
{
this.start = new CognitiveState <T>(start, agentCharacter);
this.goal = new CognitiveState <T>(goal, agentCharacter);
this.agentCharacter = agentCharacter;
// Vamos definir um nivel de corte!
cutOff = (int)Math.Ceiling(start.GetHeuristic(start, goal));
}
// Done!
public static void FilterAdd <T>(this PriorityQueue <CognitiveState <T> > list, IDictionary <int, CognitiveState <T> > other, CognitiveState <T> node, CognitiveState <T> goal, AgentCharacter agentCharacter) where T : class, ICognitiveLayout <T>
{
// Expandir o estado actual!
IList <T> childreen = node.Children(node, agentCharacter);
int count = childreen.Count;
for (int i = 0; i < count; ++i)
{
T c = childreen[i];
// Adicionar à lista somente se não existir na lista de fechados.
if (other.ContainsKey(c.GetHashCode()))
{
continue;
}
CognitiveState <T> s = new CognitiveState <T>(c, node, agentCharacter);
list.Enqueue(s.Cost + CognitiveState <T> .Estimate(node, c, goal), s);
}
}
// Done!
#region Methods
private bool SearchIDAStar()
{
PriorityQueue <CognitiveState <T> > open = new PriorityQueue <CognitiveState <T> >();
PriorityQueue <CognitiveState <T> > frontier = new PriorityQueue <CognitiveState <T> >();
// Reinicializar as variáveis
result = null;
// Vamos começar a expandir a partir deste estado!
open.Enqueue(0, start);
bool found;
do
{
found = SearchAStar(open, frontier);
open = frontier;
frontier = new PriorityQueue <CognitiveState <T> >();
} while (found == false || frontier.Count != 0);
return(true);
}
// Done!
#region .Ctor
public CognitiveAStar(T start, T goal, AgentCharacter agentCharacter)
{
this.start = new CognitiveState <T>(start, agentCharacter);
this.goal = new CognitiveState <T>(goal, agentCharacter);
this.agentCharacter = agentCharacter;
}
public static float Estimate(CognitiveState <T> node, T c, CognitiveState <T> goal)
{
return(c.GetHeuristic(c, goal.Layout));
}
public IList <T> Children(CognitiveState <T> node, AgentCharacter ac)
{
return(Layout.Children(ac));
}
// Done!
#region Methods
public bool IsGoal(CognitiveState <T> value)
{
return(Layout.IsGoal(value.Layout));
}
// Don't remember!
public CognitiveState(CognitiveState <T> state)
{
Parent = state.Parent;
Layout = state.Layout;
}
} // Custo Real
#endregion
// Done!
#region .Ctor
// Normal and most used ctor
public CognitiveState(T layout, CognitiveState <T> parent, AgentCharacter agentCharacter)
{
Parent = parent;
Layout = layout;
Cost = parent == null ? 0 : parent.Cost + parent.Layout.GetCost(layout, agentCharacter);
}