/// <summary>
/// methode die de wereld opzet
/// </summary>
public World()
{
WorldManager.AddNodes();
Robot r0 = CreateRobot(0, 0, 0);
Robot r1 = CreateRobot(0, 0, 0);
Robot r2 = CreateRobot(0, 0, 0);
Robot r3 = CreateRobot(0, 0, 0);
Vrachtwagen = CreateLorry(0, 0, 0);
r0.Move(2, 2, 1);
r1.Move(2, 2, 2);
r2.Move(2, 2, 3);
r3.Move(2, 2, 4);
Vrachtwagen.Move(0, 0, -2);
foreach (var punt in WorldManager.Points())
{
if (punt.Id.Length == 1)
{
Shelf s = CreateShelf(0, 0, 0);
punt.Shelf = s;
WorldManager.AddShelf(punt);
s.Move(punt.X, 0, punt.Z);
punt.ShelfStatus = true;
}
if (punt.Id.Length == 4)
{
punt.ShelfStatus = false;
}
}
}
/// <summary>
/// Berekent het kortste pad van start tot finish node
/// </summary>
/// <param name="start">start node</param>
/// <param name="finish">finish node</param>
/// <returns>list<node></returns>
public List <Node> Shortest_path(string start, string finish)
{
var previous = new Dictionary <string, string>();
var distances = new Dictionary <string, int>();
var nodes = new List <string>();
List <Node> node = null;
foreach (var vertex in Vertices)
{
if (vertex.Key == start)
{
distances[vertex.Key] = 0;
}
else
{
distances[vertex.Key] = int.MaxValue;
}
nodes.Add(vertex.Key);
}
while (nodes.Count != 0)
{
nodes.Sort((x, y) => distances[x] - distances[y]);
var smallest = nodes[0];
nodes.Remove(smallest);
if (smallest == finish)
{
node = new List <Node>();
while (previous.ContainsKey(smallest))
{
Manager manager = new Manager();
foreach (Node n in manager.Points())
{
if (smallest == n.Id)
{
node.Add(n);
}
}
smallest = previous[smallest];
}
break;
}
if (distances[smallest] == int.MaxValue)
{
break;
}
foreach (var neighbor in Vertices[smallest])
{
var alt = distances[smallest] + neighbor.Value;
if (alt < distances[neighbor.Key])
{
distances[neighbor.Key] = alt;
previous[neighbor.Key] = smallest;
}
}
}
node.Reverse();
return(node);
}
