/// <summary>
/// 从PlanCourse取出一个当前累积权值最小，并且没有被处理过的节点
/// </summary>
/// <returns></returns>
private Node GetMinWeightRudeNode(PlanCourse planCourse, List<Node> nodeList, string originID)
{
double weight = double.MaxValue;
Node destNode = null;
foreach (Node node in nodeList)
{
if (node.ID == originID)
{
continue;
}
PassedPath pPath = planCourse[node.ID];
if (pPath.BeProcessed)
{
continue;
}
if (pPath.Weight < weight)
{
weight = pPath.Weight;
destNode = node;
}
}
return destNode;
}
/// <summary>
/// 获取权值最小的路径
/// </summary>
/// <param name="nodeList"></param>
/// <param name="originID"></param>
/// <param name="destID"></param>
/// <returns></returns>
public RoutePlanResult Paln(List<Node> nodeList, string originID, string destID)
{
//初始化起始节点到其他节点的路径表(权值，经过的节点，是否被处理）
//同时初始化其他节点的路径表
PlanCourse planCourse = new PlanCourse(nodeList, originID);
Node curNode = this.GetMinWeightRudeNode(planCourse, nodeList, originID);
#region 计算过程
while (curNode != null)
{
PassedPath curPath = planCourse[curNode.ID];
foreach (Edge edge in curNode.EdgeList)
{
PassedPath targetPath = planCourse[edge.EndNodeID];
double tempWeight = curPath.Weight + edge.Weight;
if (tempWeight < targetPath.Weight)
{
targetPath.Weight = tempWeight;
targetPath.PassedNodeList.Clear();
for (int i = 0; i < curPath.PassedNodeList.Count; i++)
{
targetPath.PassedNodeList.Add(curPath.PassedNodeList[i]);
}
targetPath.PassedNodeList.Add(curNode);
}
}
//标志为已处理
planCourse[curNode.ID].BeProcessed = true;
//获取下一个未处理节点
curNode = this.GetMinWeightRudeNode(planCourse, nodeList, originID);
}
#endregion
//表示规划结束
return this.GetResult(planCourse, destID);
}
/// <summary>
/// 从PlanCourse表中取出目标节点的PassedPath，这个PassedPath即是规划结果
/// </summary>
/// <returns></returns>
private RoutePlanResult GetResult(PlanCourse planCourse, string destID)
{
PassedPath pPath = planCourse[destID];
if (pPath.Weight == int.MaxValue)
{
RoutePlanResult result1 = new RoutePlanResult(null, int.MaxValue);
return result1;
}
Node[] passedNodeIDs = new Node[pPath.PassedNodeList.Count];
for (int i = 0; i < passedNodeIDs.Length; i++)
{
passedNodeIDs[i] = pPath.PassedNodeList[i];
}
RoutePlanResult result = new RoutePlanResult(passedNodeIDs, pPath.Weight);
return result;
}
