/**
*
* @param n
* @return the cost, traditionally denoted by g(n), of the path from the
* initial state to the node, as indicated by the parent pointers.
*/
public double g(Node n)
{
return(n.getPathCost());
}
/**
*
* @param n
* @return the cost, traditionally denoted by g(n), of the path from the
* initial state to the node, as indicated by the parent pointers.
*/
public double g(Node n)
{
return n.getPathCost();
}
//
// PRIVATE METHODS
//
// function RECURSIVE-DLS(node, problem, limit) returns a solution, or
// failure/cutoff
private List<Action> recursiveDLS(Node node, Problem problem, int limit)
{
// if problem.GOAL-TEST(node.STATE) then return SOLUTION(node)
if (SearchUtils.isGoalState(problem, node))
{
setPathCost(node.getPathCost());
return SearchUtils.actionsFromNodes(node.getPathFromRoot());
}
else if (0 == limit)
{
// else if limit = 0 then return cutoff
return cutoff();
}
else
{
// else
// cutoff_occurred? <- false
bool cutoff_occurred = false;
// for each action in problem.ACTIONS(node.STATE) do
foreach (Node child in this.expandNode(node, problem))
{
// child <- CHILD-NODE(problem, node, action)
// result <- RECURSIVE-DLS(child, problem, limit - 1)
List<Action> result = recursiveDLS(child, problem, limit - 1);
// if result = cutoff then cutoff_occurred? <- true
if (isCutOff(result))
{
cutoff_occurred = true;
}
else if (!isFailure(result))
{
// else if result != failure then return result
return result;
}
}
// if cutoff_occurred? then return cutoff else return failure
if (cutoff_occurred)
{
return cutoff();
}
else
{
return failure();
}
}
}
