private void CalcPathBetweenEntrances(EntrancePoint e1, EntrancePoint e2)
{
if (e1.AbstractId == e2.AbstractId)
{
return;
}
var tuple = Tuple.Create(e1.AbstractId, e2.AbstractId);
var invTuple = Tuple.Create(e2.AbstractId, e1.AbstractId);
if (m_distanceDict.ContainsKey(tuple))
{
return;
}
PathPlanner planner = new PathPlanner(m_concreteMap, Area);
Path path = planner.Search(e1.ConcreteNode, e2.ConcreteNode);
if (path != null)
{
m_distanceDict[tuple] = m_distanceDict[invTuple] = path.Cost;
m_pathDict[tuple] = new List <INode>();
m_pathDict[tuple].AddRange(path.Nodes);
path.Nodes.Reverse();
m_pathDict[invTuple] = new List <INode>();
m_pathDict[invTuple].AddRange(path.Nodes);
}
}
public void AddIntraEdgesData(EntrancePoint entrance)
{
foreach (var other in EntrancePoints)
{
CalcPathBetweenEntrances(entrance, other);
}
}
public EntrancePoint AddEntrancePoint(int abstractId, ConcreteNode node)
{
EntrancePoint point = new EntrancePoint(abstractId, node);
EntrancePoints.Add(point);
return(point);
}
private int GetEntrancePointLevel(EntrancePoint point)
{
return(AbstractGraph.GetNode(point.AbstractId).Level);
}
