/// <summary>
/// Expands all of the transitions and adds the resulting world states
/// to the list of nodes during exploration
/// </summary>
/// <param name="openList">The list of nodes we haven't explored
/// yet</param>
/// <param name="seen">The list of nodes we've seen</param>
/// <param name="curNode">The current node from the open list</param>
private static void AddExpansionsToLists(
EventDescriptor[] evtDescs,
List<ExplorationNode> openList,
Dictionary<WorldState, ExplorationNode> seen,
ExplorationNode curNode)
{
// Find all of the event signatures
foreach (EventDescriptor evtDesc in evtDescs)
{
IEnumerable<Tuple<WorldState, uint[]>> expansions =
GetExpansions(curNode.State, evtDesc);
// Get all of the expansions
foreach (Tuple<WorldState, uint[]> expansion in expansions)
{
WorldState expansionState = expansion.Item1;
ExplorationNode expansionNode;
// If we haven't seen the world state
if (seen.TryGetValue(expansionState, out expansionNode) == false)
{
expansionNode = new ExplorationNode(expansionState);
openList.Add(expansionNode);
seen.Add(expansionState, expansionNode);
}
DebugUtil.Assert(expansionNode != null);
TransitionEvent transition = new TransitionEvent(evtDesc, expansion.Item2);
ExplorationEdge edge = new ExplorationEdge(
curNode,
expansionNode,
transition);
curNode.AddOutgoing(edge);
expansionNode.AddIncoming(edge);
}
}
}
private static void AssignEdgesToNode(
Dictionary<uint, ExplorationEdge> idToEdge,
NodeData data,
ExplorationNode node)
{
// Add the incoming and outgoing nodes, in order
foreach (uint id in data.Incoming)
node.AddIncoming(idToEdge[id]);
foreach (uint id in data.Outgoing)
node.AddOutgoing(idToEdge[id]);
List<ExplorationEdge> edges = new List<ExplorationEdge>();
// Convert the path to path edges for each target
for (int tIdx = 0; tIdx < data.Paths.Length; tIdx++)
{
uint[] pathIds = data.Paths[tIdx];
ExplorationEdge[] pathEdges =
pathIds.Convert((id) => idToEdge[id]).ToArray();
ExplorationNode target = pathEdges.Last().Target;
node.SetPathOut(target.Id, pathEdges);
}
}