/// <summary>
/// // FORWARD PROCESSING: Calculate the minimum cumulative cost for each object in each world state
/// </summary>
/// <param name="objectsByWorldState">"Matrix" of objects by world state</param>
private void calculateMinimumCumulativeCost(List <List <TrackedObject> > objectsByWorldState)
{
int iWorldState = 0;
foreach (List <TrackedObject> objectsAtWorldState in objectsByWorldState)
{
// we start ecalculating costs from the second world stat
if (iWorldState == 0)
{
iWorldState++;
continue;
}
int iDestinyObject = 0;
foreach (TrackedObject destinyObject in objectsAtWorldState)
{
//destinyObject.cost = minCost(objectsByWorldState[iWorldState - 1], iWorldState, iDestinyObject);
ObjectAndCost minSourceObject = minCost(objectsByWorldState[iWorldState - 1], iWorldState, iDestinyObject);
destinyObject.cost = minSourceObject.cost;
// set the object as a "tentative" closest source. It may be used in the path of another object having
// a total smaller path than this
destinyObject.closestSource = minSourceObject.sourceObject;
iDestinyObject++;
}
iWorldState++;
}
}
/// <summary>
/// Return the dependent shortest path for each object (as a string)
/// </summary>
/// <param name="objectsByWorldState">"Matrix" of objects by worldstate</param>
/// <returns>Paths (as string)</returns>
public string getPaths(List <List <TrackedObject> > objectsByWorldState)
{
string output = "";
// sort the elments by ascending cost
objectsByWorldState[objectsByWorldState.Count - 1].Sort(delegate(TrackedObject c1, TrackedObject c2) { return(c1.cost.CompareTo(c2.cost)); });
foreach (TrackedObject objectAtWorldState in objectsByWorldState[objectsByWorldState.Count - 1])
{
int iWorldState = objectsByWorldState.Count;
// temporary object to iterate through the linked list
TrackedObject thisObject = objectAtWorldState;
do
{
iWorldState--;
output += "(" + thisObject.x + "," + thisObject.y + ") [" + thisObject.cost + "]";
// if there is no closest point from previous world state, then we have reached the end
if (thisObject.closestSource == null)
{
break;
}
// make sure to not using source objects already used by other shorter paths
if (thisObject.closestSource.taken)
{
// if so, find the next one that is closer
ObjectAndCost closestSource = minCost(objectsByWorldState[iWorldState - 1], iWorldState, thisObject.ith);
thisObject.closestSource = closestSource.sourceObject;
// if there is no closest point from previous world state, then we have reached the end
if (thisObject == null)
{
break;
}
}
// now we move in our liked list, to the previous object (a.k.a. the closest one from previous world state)
thisObject = thisObject.closestSource;
if (thisObject != null)
{
// mark the object as taken, so it is used only once.
thisObject.taken = true;
output += " -> ";
}
} while (thisObject != null);
output += Environment.NewLine;
}
return(output);
}