private void Update_cell(DStatLiteNode paramLightCell, int Iteration, Maze maze)
{
DStatLiteNode localLightCell = null;
System.Console.WriteLine("Update_cell: " + paramLightCell);
Key localKey = new Key(paramLightCell);
paramLightCell.iteration = Iteration;
if (paramLightCell != this.goal)
{
paramLightCell.rhs = 2147483647;
for (int i = 0; i < Maze.N_DIRECTIONS_WITHOUT_DIAGONALS; i++)
{
int j = paramLightCell.GetMazeLightCell().X + Maze.delta_x[i];
int k = paramLightCell.GetMazeLightCell().Y + Maze.delta_y[i];
if ((0 > j) || (j >= SimulationForm.MAZE_W) || (0 > k) || (k >= SimulationForm.MAZE_H) || (maze.cells[j, k].blocked))
{
continue;
}
int m;
if (this.graph[j, k].g == 2147483647)
{
m = 2147483647;
}
else
{
m = this.graph[j, k].g + 1;
}
if (paramLightCell.rhs > m)
{
paramLightCell.rhs = m;
localLightCell = this.graph[j, k];
}
}
}
//open_list.Delete(localLightCell);
this.u.remove(localKey);
paramLightCell.parent = localLightCell;
System.Console.WriteLine("New Parente: " + localLightCell);
if (paramLightCell.g != paramLightCell.rhs)
{
open_list.Insert(paramLightCell);
this.u.add(new Key(paramLightCell));
}
}
public void Calculate_path(bool paramBoolean, int Iteration, Maze maze)
{
//Clear_path();
//with heap : DStatLiteNode node;
while (!Execution_end())
{
//with heap : node = (DStatLiteNode)open_list.Pop();
//with heap : node.closed = true;
Key localKey = (Key)this.u.first();
this.u.remove(localKey);
DStatLiteNode node = localKey.cell;
node.iteration = Iteration;
int i;
int j;
int k;
if (node.g > node.rhs)
{
node.g = node.rhs;
if (node != this.start)
{
for (i = 0; i < Maze.N_DIRECTIONS_WITHOUT_DIAGONALS; i++)
{
j = node.GetMazeLightCell().X + Maze.delta_x[i];
k = node.GetMazeLightCell().Y + Maze.delta_y[i];
//if ((0 > j) || (j >= this.size_x) || (0 > k) || (k >= this.size_y) || (this.cells[j][k].type_robot_vision == 1) || (node.g + 1 >= this.cells[j][k].rhs))
if ((0 > j) || (j >= SimulationForm.MAZE_W) || (0 > k) || (k >= SimulationForm.MAZE_H) || (maze.cells[j, k].blocked) || (node.g + 1 >= this.graph[j, k].rhs))
{
continue;
}
Update_cell(this.graph[j, k], Iteration, maze);
}
}
}
else
{
node.g = 2147483647;
Update_cell(node, Iteration, maze);
for (i = 0; i < Maze.N_DIRECTIONS_WITHOUT_DIAGONALS; i++)
{
j = node.GetMazeLightCell().X + Maze.delta_x[i];
k = node.GetMazeLightCell().Y + Maze.delta_y[i];
//if ((0 > j) || (j >= this.size_x) || (0 > k) || (k >= this.size_y) || (this.cells[j][k].type_robot_vision == 1))
if ((0 > j) || (j >= SimulationForm.MAZE_W) || (0 > k) || (k >= SimulationForm.MAZE_H) || (maze.cells[j, k].blocked))
{
continue;
}
Update_cell(this.graph[j, k], Iteration, maze);
}
}
if (paramBoolean)
{
break;
}
}
if (Execution_end())
{
Mark_path(maze);
}
}
public void Solve()
{
DStatLiteNode node;
while (!HasExecutionFinished())
{
node = (DStatLiteNode)open_list.Pop();
node.closed = true;
if (node == goal)
{
DStatLiteNode node_child = null;
path_cost = node.g;
has_solution = true;
if (mark_path)
{
node.GetMazeLightCell().SetPathFlag();
node_child = node;
node = node.parent;
do
{
node.GetMazeLightCell().SetNextMazeCell(node_child.GetMazeLightCell());
node.GetMazeLightCell().SetPathFlag();
node_child = node;
node = node.parent;
}while(node != null);
}
break;
}
for (int i = 0; i < neighborhood; i++)
{
int x, y;
x = node.GetMazeLightCell().X + Maze.delta_x[i];
y = node.GetMazeLightCell().Y + Maze.delta_y[i];
if (0 <= x && x < w && 0 <= y && y < h)
{
DStatLiteNode child = graph[y, x];
if (child.GetMazeLightCell().IsBlocked() || child.closed)
{
continue;
}
int cost = child.GetMazeLightCell().GetCost();
if (open_list.Has(child))
{
if (child.g > node.g + cost)
{
child.parent = node;
child.g = node.g + cost;
child.f = child.g + child.h;
open_list.Insert(child);
}
}
else
{
child.parent = node;
child.g = node.g + cost;
child.f = child.g + child.h;
open_list.Insert(child);
}
}
}
if (step_by_step)
{
break;
}
}
}
