/// <summary>Returns an <c>IDirectedPath</c> for the optimal path from coordinates <c>start</c> to <c>goal</c>.</summary>
/// <param name="start">Coordinates for the <c>last</c> step on the desired path.</param>
/// <param name="goal">Coordinates for the <c>first</c> step on the desired path.</param>
/// <param name="board">An object satisfying the interface <c>INavigableBoardFwd</c>.</param>
/// <returns></returns>
/// ///<remarks>Note that <c>heuristic</c> <b>must</b> be monotonic in order for the algorithm to perform properly.</remarks>
#pragma warning disable 1658, 1584
/// <seealso cref="http://www.cs.trincoll.edu/~ram/cpsc352/notes/astar.html"/>
#pragma warning restore 1633, 1658, 1584
public static IDirectedPath FindDirectedPathFwd(
IHex start,
IHex goal,
IDirectedNavigableBoard board
)
{
if (board == null) throw new ArgumentNullException("board");
return FindDirectedPathFwd(start, goal, board.DirectedStepCost, board.Heuristic);
}
/// <summary>As <c>FindDirectedPathFwd</c>, except with the steps stacked in reverse.</summary>
/// <remarks>
/// The path steps are ordered in reverse as the forward half-path has been stacked
/// onto the reverse half-path during post-processing, instead of the reverse.
/// </remarks>
/// <see cref="FindDirectedPathFwd"/>
public static IDirectedPath FindDirectedPathRev(
IHex start, IHex goal, IDirectedNavigableBoard board
)
{
if (board == null)
{
throw new ArgumentNullException("board");
}
return(FindDirectedPath(start, goal, board.DirectedStepCost, board.Landmarks).PathRev);
}
/// <summary>Returns an <c>IDirectedPath</c> for the optimal path from coordinates <c>start</c> to <c>goal</c>.</summary>
/// <param name="start">Coordinates for the <c>last</c> step on the desired path.</param>
/// <param name="goal">Coordinates for the <c>first</c> step on the desired path.</param>
/// <param name="board">An object satisfying the interface <c>INavigableBoardFwd</c>.</param>
/// <returns></returns>
/// ///<remarks>Note that <c>heuristic</c> <b>must</b> be monotonic in order for the algorithm to perform properly.</remarks>
#pragma warning disable 1658, 1584
/// <seealso cref="http://www.cs.trincoll.edu/~ram/cpsc352/notes/astar.html"/>
#pragma warning restore 1633, 1658, 1584
public static IDirectedPath FindDirectedPathFwd(
IHex start,
IHex goal,
IDirectedNavigableBoard board
)
{
if (board == null)
{
throw new ArgumentNullException("board");
}
return(FindDirectedPathFwd(start, goal, board.DirectedStepCost, board.Heuristic));
}
/// <summary>As <c>FindDirectedPathFwd</c>, except with the steps stacked in reverse.</summary>
/// <remarks>
/// The path steps are ordered in reverse as the forward half-path has been stacked
/// onto the reverse half-path during post-processing, instead of the reverse.
/// </remarks>
/// <see cref="FindDirectedPathFwd"/>
public static IDirectedPath FindDirectedPathRev(
IHex start, IHex goal, IDirectedNavigableBoard board
)
{
if (board == null) throw new ArgumentNullException("board");
return FindDirectedPath(start, goal, board.DirectedStepCost, board.Landmarks).PathRev;
}
public PathShortcut(IHex start, IHex goal, IDirectedNavigableBoard board)
{
DirectedPath = BidirectionalPathfinder.FindDirectedPathFwd(start, goal, board);
Goal = goal;
}