//compare distance to target using the heuristic provided
public int CompareTo(AStarWrap <T, W> other)
{
if (this == other)
{
return(0);
}
var result1 = heuristic.HueristicDistanceToTarget(Vertex, destinationVertex);
var result2 = heuristic.HueristicDistanceToTarget(other.Vertex, destinationVertex);
return(result1.CompareTo(result2));
}
/// <summary>
/// Search path to target using the heuristic.
/// </summary>
public ShortestPathResult <T, W> FindShortestPath(WeightedDiGraph <T, W> graph, T source, T destination)
{
//regular argument checks
if (graph?.FindVertex(source) == null || graph.FindVertex(destination) == null)
{
throw new ArgumentException();
}
//track progress for distance to each Vertex from source
var progress = new Dictionary <T, W>();
//trace our current path by mapping current vertex to its Parent
var parentMap = new Dictionary <T, T>();
//min heap to pick next closest vertex
var minHeap = new FibonacciHeap <AStarWrap <T, W> >();
//keep references of heap Node for decrement key operation
var heapMapping = new Dictionary <T, AStarWrap <T, W> >();
//add vertices to min heap and progress map
foreach (var vertex in graph.Vertices)
{
//init parent
parentMap.Add(vertex.Key, default(T));
//init to max value
progress.Add(vertex.Key, operators.MaxValue);
if (vertex.Key.Equals(source))
{
continue;
}
}
//start from source vertex as current
var current = new AStarWrap <T, W>(heuristic, destination)
{
Distance = operators.DefaultValue,
Vertex = source
};
//insert neighbour in heap
minHeap.Insert(current);
heapMapping[source] = current;
//until heap is empty
while (minHeap.Count > 0)
{
//next min vertex to visit
current = minHeap.Extract();
heapMapping.Remove(current.Vertex);
//no path exists, so return max value
if (current.Distance.Equals(operators.MaxValue))
{
return(new ShortestPathResult <T, W>(null, operators.MaxValue));
}
//visit neighbours of current
foreach (var neighbour in graph.Vertices[current.Vertex].OutEdges.Where(x => !x.Key.Value.Equals(source)))
{
//new distance to neighbour
var newDistance = operators.Sum(current.Distance,
graph.Vertices[current.Vertex].OutEdges[neighbour.Key]);
//current distance to neighbour
var existingDistance = progress[neighbour.Key.Value];
//update distance if new is better
if (newDistance.CompareTo(existingDistance) < 0)
{
progress[neighbour.Key.Value] = newDistance;
if (heapMapping.ContainsKey(neighbour.Key.Value))
{
//decrement distance to neighbour in heap
var decremented = new AStarWrap <T, W>(heuristic, destination)
{
Distance = newDistance, Vertex = neighbour.Key.Value
};
minHeap.UpdateKey(heapMapping[neighbour.Key.Value], decremented);
heapMapping[neighbour.Key.Value] = decremented;
}
else
{
//insert neighbour in heap
var discovered = new AStarWrap <T, W>(heuristic, destination)
{
Distance = newDistance, Vertex = neighbour.Key.Value
};
minHeap.Insert(discovered);
heapMapping[neighbour.Key.Value] = discovered;
}
//trace parent
parentMap[neighbour.Key.Value] = current.Vertex;
}
}
}
return(tracePath(graph, parentMap, source, destination));
}
/// <summary>
/// Search path to target using the heuristic.
/// </summary>
public ShortestPathResult <T, W> FindShortestPath(IGraph <T> graph, T source, T destination)
{
if (this.@operator == null)
{
throw new ArgumentException("Provide an operator implementation for generic type W during initialization.");
}
if (!graph.IsWeightedGraph)
{
if ([email protected]() != typeof(int))
{
throw new ArgumentException("Edges of unweighted graphs are assigned an imaginary weight of one (1)." +
"Provide an appropriate IShortestPathOperators<int> operator implementation during initialization.");
}
}
//regular argument checks
if (graph?.GetVertex(source) == null || graph.GetVertex(destination) == null)
{
throw new ArgumentException();
}
//track progress for distance to each Vertex from source
var progress = new Dictionary <T, W>();
//trace our current path by mapping current vertex to its Parent
var parentMap = new Dictionary <T, T>();
//min heap to pick next closest vertex
var minHeap = new FibonacciHeap <AStarWrap <T, W> >();
//keep references of heap Node for decrement key operation
var heapMapping = new Dictionary <T, AStarWrap <T, W> >();
//add vertices to min heap and progress map
foreach (var vertex in graph.VerticesAsEnumberable)
{
//init parent
parentMap.Add(vertex.Key, default(T));
//init to max value
progress.Add(vertex.Key, @operator.MaxValue);
if (vertex.Key.Equals(source))
{
continue;
}
}
//start from source vertex as current
var current = new AStarWrap <T, W>(heuristic, destination)
{
Distance = @operator.DefaultValue,
Vertex = source
};
//insert neighbour in heap
minHeap.Insert(current);
heapMapping[source] = current;
//until heap is empty
while (minHeap.Count > 0)
{
//next min vertex to visit
current = minHeap.Extract();
heapMapping.Remove(current.Vertex);
//no path exists, so return max value
if (current.Distance.Equals(@operator.MaxValue))
{
return(new ShortestPathResult <T, W>(null, @operator.MaxValue));
}
//visit neighbours of current
foreach (var neighbour in graph.GetVertex(current.Vertex).Edges.Where(x => !x.TargetVertexKey.Equals(source)))
{
//new distance to neighbour
var newDistance = @operator.Sum(current.Distance,
graph.GetVertex(current.Vertex).GetEdge(neighbour.TargetVertex).Weight <W>());
//current distance to neighbour
var existingDistance = progress[neighbour.TargetVertexKey];
//update distance if new is better
if (newDistance.CompareTo(existingDistance) < 0)
{
progress[neighbour.TargetVertexKey] = newDistance;
if (heapMapping.ContainsKey(neighbour.TargetVertexKey))
{
//decrement distance to neighbour in heap
var decremented = new AStarWrap <T, W>(heuristic, destination)
{
Distance = newDistance,
Vertex = neighbour.TargetVertexKey
};
minHeap.UpdateKey(heapMapping[neighbour.TargetVertexKey], decremented);
heapMapping[neighbour.TargetVertexKey] = decremented;
}
else
{
//insert neighbour in heap
var discovered = new AStarWrap <T, W>(heuristic, destination)
{
Distance = newDistance,
Vertex = neighbour.TargetVertexKey
};
minHeap.Insert(discovered);
heapMapping[neighbour.TargetVertexKey] = discovered;
}
//trace parent
parentMap[neighbour.TargetVertexKey] = current.Vertex;
}
}
}
return(tracePath(graph, parentMap, source, destination));
}
