public PathPlanningGraph BackwardPrune(PathPlanningGraph graph)
{
PathPlanningGraph newGraph = new PathPlanningGraph(graph);
for (int t = newGraph.planningLength - 1; t >= 0; t--)
{
for (int i = newGraph[t].mNodes.Count - 1; i >= 0; i--)
{
if (t == newGraph.planningLength - 1)
{
if (!newGraph.hasIn(newGraph[t].mNodes[i], t))
{
newGraph.RemovePlanningNode(newGraph[t].mNodes[i], t);
}
}
else if (t == 0)
{
if (!newGraph.hasOut(newGraph[t].mNodes[i], t))
{
newGraph.RemovePlanningNode(newGraph[t].mNodes[i], t);
}
}
else
{
if (!newGraph.hasIn(newGraph[t].mNodes[i], t)
||
!newGraph.hasOut(newGraph[t].mNodes[i], t))
{
newGraph.RemovePlanningNode(newGraph[t].mNodes[i], t);
}
}
}
}
return(newGraph);
}
public PathPlanningGraph GetPlanningGraph(PathPlanningGraph graph, HexaPos start)
{
PathPlanningGraph newGraph = new PathPlanningGraph(graph);
if (newGraph.planningLength > 0)
{
for (int i = newGraph[0].mNodes.Count - 1; i >= 0; i--)
{
if (newGraph[0].mNodes[i].pos.X != start.X
||
newGraph[0].mNodes[i].pos.Y != start.Y)
{
newGraph.RemovePlanningNode(newGraph[0].mNodes[i], 0);
}
}
}
return(newGraph);
}
public PathPlanningGraph GetPlanningGraph(PathPlanningGraph graph, HexaPos start, HexaPos end)
{
PathPlanningGraph newGraph = GetPlanningGraph(graph, start);
if (newGraph.planningLength > 0)
{
for (int i = newGraph[newGraph.planningLength - 1].mNodes.Count - 1; i >= 0; i--)
{
if (newGraph[newGraph.planningLength - 1].mNodes[i].pos.X != end.X
||
newGraph[newGraph.planningLength - 1].mNodes[i].pos.Y != end.Y)
{
newGraph.RemovePlanningNode(newGraph[newGraph.planningLength - 1].mNodes[i], newGraph.planningLength - 1);
}
}
}
return(newGraph);
}
