/// <summary>
/// Use for a 'step by step' search only. This method is alternate to SearchPath.
/// The algorithm must have been initialize before.
/// </summary>
/// <exception cref="InvalidOperationException">You must initialize AStar before using NextStep().</exception>
/// <returns>'true' unless the search ended.</returns>
public bool NextStep()
{
if (!Initialized)
{
throw new InvalidOperationException("You must initialize AStar before launching the algorithm.");
}
if (_Open.Count == 0)
{
return(false);
}
_NbIterations++;
int IndexMin = _Open.IndexOfMin();
Track BestTrack = (Track)_Open[IndexMin];
_Open.RemoveAt(IndexMin);
if (BestTrack.Succeed)
{
_LeafToGoBackUp = BestTrack;
_Open.Clear();
}
else
{
Propagate(BestTrack);
_Closed.Add(BestTrack);
}
return(_Open.Count > 0);
}