/// <summary>
/// 构造RRT树上的路径
/// </summary>
/// <param name="mRrtTree">从中选择路径的树</param>
/// <returns>路径</returns>
protected List <RrtStarNode> BuildPath(HashSet <RrtStarNode> mRrtTree)
{
//如果树为空,则返回空
if ((null == mRrtTree))
{
return(null);
}
//选取并存储路径
int targetNodeIndex = mRrtTree.Max(e => e.NodeIndex);
RrtStarNode mTempNode = mRrtTree.First(e => e.NodeIndex == targetNodeIndex);
List <RrtStarNode> mTempRrtPath = new List <RrtStarNode>();
//循环搜索
while (mTempNode.ParentNode != null)
{
//增加节点
mTempRrtPath.Add(mTempNode);
//递增
mTempNode = mTempNode.ParentNode;
}
mTempRrtPath.Add(mTempNode);//实际上是初始节点
//由于是按照倒序添加,这里将顺序反转
mTempRrtPath.Reverse();
//返回值
return(mTempRrtPath);
}
/// <summary>
/// 计算两个节点之间的距离
/// </summary>
/// <param name="mNode1">节点1</param>
/// <param name="mNode2">节点2</param>
/// <returns></returns>
public double DistanceBetweenTwoNode(RrtStarNode mNode1, RrtStarNode mNode2)
{
//二维算法使用
return(FPoint3.DistanceBetweenTwoSpacePointsXY(mNode1.NodeLocation, mNode2.NodeLocation));
//三维算法使用
//return FPoint3.DistanceBetweenTwoSpacePoints(mNode1.NodeLocation, mNode2.NodeLocation);
}
/// <summary>
/// 深度搜索更新Childnode 的costfunc
/// </summary>
/// <param name="node"></param>
protected void UpdateChildnodeCostFunc(RrtStarNode node)
{
//不论如何都要更新的事情
if (node.ParentNode != null)
{
node.CostFuncValue = node.ParentNode.CostFuncValue + MLineCostFunc(node.ParentNode, node);
}
//检查子类是否需要更新
if (node.ChildNodes == null)
{
return;
}
else if (node.ChildNodes.Count == 0)
{
return;
}
else if (node.ChildNodes.Count > 0)
{
foreach (var childnode in node.ChildNodes)
{
UpdateChildnodeCostFunc(childnode);
}
}
}
private void SetDeleted(RrtStarNode topNode)
{
topNode.IsAbandoned = true;
foreach (var item in topNode.ChildNodes)
{
SetDeleted(item);
}
}
/// <summary>
/// 扩展树算法
/// </summary>
/// <param name="mRrtStarTree"></param>
/// <param name="mRrtNearNode"></param>
/// <param name="mRrtNewSteerNode"></param>
public void ExpandTree(ref HashSet <RrtStarNode> mRrtStarTree, RrtStarNode mRrtNearNode, RrtStarNode mRrtNewSteerNode, int index)
{
//设置是否到达目标的标志
//bool isReachTarget = false;
//保存Steer节点信息
if (mRrtNewSteerNode != null)
{
//设置节点编号
mRrtNewSteerNode.NodeIndex = index;
//设置父节点
mRrtNewSteerNode.ParentNode = mRrtNearNode;
//增加新节点
mRrtStarTree.Add(mRrtNewSteerNode);
}
//创建Near集合
HashSet <RrtStarNode> nearNodes = NearNeighbors(ref mRrtStarTree, mRrtNewSteerNode);
RrtStarNode minCostNode = mRrtNearNode;
double minCost = minCostNode.CostFuncValue + MLineCostFunc(minCostNode, mRrtNewSteerNode);
//记录初始化父节点
mRrtNewSteerNode.ParentNode = minCostNode;
//记录初始化最优minCost参数
mRrtNewSteerNode.CostFuncValue = minCost;
//寻找安全的Cost函数最小值
foreach (var node in nearNodes)
{
if (_isSafeLine(mRrtNewSteerNode.NodeLocation, node.NodeLocation) && _isSafePoint(mRrtNewSteerNode.NodeLocation) &&
node.CostFuncValue + MLineCostFunc(node, mRrtNewSteerNode) < minCost)
{
minCostNode = node;
minCost = node.CostFuncValue + MLineCostFunc(node, mRrtNewSteerNode);
//记录父节点
mRrtNewSteerNode.ParentNode = minCostNode;
//记录临时最优minCost参数
mRrtNewSteerNode.CostFuncValue = minCost;
}
}
//更新父节点的childlist
mRrtNewSteerNode.ParentNode.ChildNodes.Add(mRrtNewSteerNode);
//Rewrite the tree!
foreach (var node in nearNodes)
{
if (_isSafeLine(mRrtNewSteerNode.NodeLocation, node.NodeLocation) && _isSafePoint(mRrtNewSteerNode.NodeLocation) &&
mRrtNewSteerNode.CostFuncValue + MLineCostFunc(mRrtNewSteerNode, node) < node.CostFuncValue)
{ //新创立的节点可能会影响tree的最优性，所以需要重写局部的连接情况
//去掉与原父节点的联系
node.ParentNode.ChildNodes.Remove(node);
//添加与新父节点的联系
node.ParentNode = mRrtNewSteerNode;
mRrtNewSteerNode.ChildNodes.Add(node);
//更新字节点的costfunc
UpdateChildnodeCostFunc(node);
}
}
}
public void BranchAndBound(ref HashSet <RrtStarNode> mFinalNodeSet, ref HashSet <RrtStarNode> mRrtStarTree)
{
var targetNode = RrtStarNode.ConvertUavStateToNode(_mInput.UAVTask[ITaskIndex].Stages[IStageIndex].TargetState);
var minCost = mFinalNodeSet.Min(e => e.CostFuncValue + MLineCostFunc(e, targetNode));
RrtStarNode mOptimalNode = mFinalNodeSet.FirstOrDefault(e => e.CostFuncValue + MLineCostFunc(e, targetNode) == minCost);
if (mOptimalNode == null) //default
{
return;
}
//foreach(var item in mRRTStarTree.Where(e => e.IsValid == true)) //寻找mFinalNodeSet相同内容
foreach (var item in mFinalNodeSet)
{
if (item.NodeIndex == mOptimalNode.NodeIndex)
{
continue;
}
//跳过最优值，剩下的都删了
//TODO
//Step 1. Find out the GGGGGrandParent that should be abandoned.
var topNodeParent = item;
RrtStarNode topNode = item; //TopNode的子节点, item 一定是 abandoned 的节点。
while (topNodeParent.CostFuncValue + MLineCostFunc(topNodeParent, targetNode) > minCost)
{
if (topNodeParent.ParentNode != null)
{
topNode = topNodeParent;
topNodeParent = topNodeParent.ParentNode;
}
else
{
break;
}
}
//Step 2. Delete ChildNode reference
if (topNode.ParentNode != null)
{
topNode.ParentNode.ChildNodes.Remove(topNode);
}
//Step 3. Set All child as abandoned
SetDeleted(topNode);
}
//Step Finally. Delete! Them! All!
mRrtStarTree.RemoveWhere(e => e.IsAbandoned);
mFinalNodeSet.Clear();
mFinalNodeSet.Add(mOptimalNode);
}
/// <summary>
/// 在探测范围内随机生成一个节点
/// </summary>
/// <returns>RRTStarNode</returns>
private RrtStarNode RandomConfigurationOrigin()
{
RrtStarNode mRrtRandNode = new RrtStarNode();
mRrtRandNode.NodeLocation.X = _mRandom.NextDouble() * _mInput.Scenario.FlightScene.Coordinate.MaxX;
mRrtRandNode.NodeLocation.Y = _mRandom.NextDouble() * _mInput.Scenario.FlightScene.Coordinate.MaxY;
mRrtRandNode.NodeLocation.Z = _mInput.Scenario.UAVGroup.GetUAV(_mInput.UAVTask[ITaskIndex].Index).StartState.PointLocation.Z; //m_RRTParameter.MissionAltitude;
mRrtRandNode.ParentNode = null;
//
return(mRrtRandNode);
}
public void MarkingValid(RrtStarNode mRrtCurrentNode, ref HashSet <RrtStarNode> finalNodeSet)
{
var targetNode = RrtStarNode.ConvertUavStateToNode(_mInput.UAVTask[ITaskIndex].Stages[IStageIndex].TargetState);
//路径连通而且距离不长
if (_isSafeLine(mRrtCurrentNode.NodeLocation, targetNode.NodeLocation))
//&& DistanceBetweenTwoNode(mRRTCurrentNode, TargetNode) <= RRTParameter.Error)
{
//打上 Valid标记（gradually模式用）
mRrtCurrentNode.IsValid = true;
finalNodeSet.Add(mRrtCurrentNode);
}
}
/// <summary>
/// 计算新的节点
/// </summary>
/// <param name="mRrtNearNode">距离mRRTRandNode最近的节点</param>
/// <param name="mRrtRandNode">随机生成的节点</param>
/// <returns></returns>
public RrtStarNode Steer(RrtStarNode mRrtNearNode, RrtStarNode mRrtRandNode)
{
RrtStarNode mRrtNewNode = new RrtStarNode();
if (DistanceBetweenTwoNode(mRrtNearNode, mRrtRandNode) <= MRrtParameter.Step)
{
mRrtNewNode = mRrtRandNode;
}
else
{
//生成新点
mRrtNewNode = NewNode(MRrtParameter.Step, mRrtNearNode, mRrtRandNode);
}
return(mRrtNewNode);
}
/// <summary>
/// 计算新的节点
/// </summary>
/// <param name="fStep">步长</param>
/// <param name="mRrtNearNode">距离mRRTRandNode最近的节点</param>
/// <param name="mRrtRandNode">随机生成的节点</param>
/// <returns></returns>
protected RrtStarNode NewNode(double fStep, RrtStarNode mRrtNearNode, RrtStarNode mRrtRandNode)
{
//Alex 2018.09.18 修复错误
//随便吐槽
//不知道和妹子还能在一起多久，不过还是有点心塞吧。
RrtStarNode mRrtNewNode = new RrtStarNode();
mRrtNewNode.NodeLocation.X = mRrtNearNode.NodeLocation.X + (fStep * (mRrtRandNode.NodeLocation.X - mRrtNearNode.NodeLocation.X)) / DistanceBetweenTwoNode(mRrtNearNode, mRrtRandNode);
mRrtNewNode.NodeLocation.Y = mRrtNearNode.NodeLocation.Y + (fStep * (mRrtRandNode.NodeLocation.Y - mRrtNearNode.NodeLocation.Y)) / DistanceBetweenTwoNode(mRrtNearNode, mRrtRandNode);
mRrtNewNode.NodeLocation.Z = _mInput.Scenario.UAVGroup.GetUAV(_mInput.UAVTask[ITaskIndex].Index).StartState.PointLocation.Z; //m_RRTParameter.MissionAltitude;
//DirectionGenerationMethod(mRRTRandNode, mRRTNearNode, mRRTNewNode, fStep);
return(mRrtNewNode);
}
private RrtStarNode BiasRandomConfiguration()
{
//新节点
RrtStarNode mRrtNode = null;
//是否直接把目标点当作新点
if (_mRandom.NextDouble() > MRrtParameter.ChooseTargetThreshold)
{
mRrtNode = RandomConfigurationOrigin();
}
else
{
mRrtNode = RrtStarNode.ConvertUavStateToNode(_mInput.UAVTask[ITaskIndex].Stages[IStageIndex].TargetState);
}
//
return(mRrtNode);
}
/// <summary>
/// 寻找树mRRTTree中距离mRRTRandNode最近的节点
/// </summary>
/// <param name="mRrtTree">RRT树</param>
/// <param name="mRrtRandNode">随机生成的节点</param>
/// <returns></returns>
public RrtStarNode NearestNeighbor(HashSet <RrtStarNode> mRrtTree, RrtStarNode mRrtRandNode)
{
RrtStarNode mRrtNearNode = new RrtStarNode();
double fMinDistance = double.MaxValue;
double fDistance = 0;
foreach (RrtStarNode mRrtNode in mRrtTree)
{
fDistance = DistanceBetweenTwoNode(mRrtRandNode, mRrtNode);
if (fDistance <= fMinDistance)
{
mRrtNearNode = mRrtNode;
fMinDistance = fDistance;
}
}
//
return(mRrtNearNode);
}
/// <summary>
/// 判断新结点到目标连线是否安全, 若安全则直接连接目标点
/// </summary>
/// <param name="iTaskIndex">无人机/任务编号</param>
/// <param name="iStageIndex">阶段编号</param>
/// <param name="mRrtCurrentNode">当前节点</param>
/// <param name="mRrtTree">RRT</param>
/// <returns>1,是否有效(安全); 2,如果有效(安全),是否到达目标</returns>
public bool DirectlyToTarget(RrtStarNode mRrtCurrentNode, ref HashSet <RrtStarNode> mRrtTree)
{
bool isReachTarget = false;
//进一步判断新结点到目标连线是否安全, 若安全则直接连接目标点
if (_isSafeLine(mRrtCurrentNode.NodeLocation, _mInput.UAVTask[ITaskIndex].Stages[IStageIndex].TargetState.Location))
{
//设置为到达
isReachTarget = true;
//设置目标点为最后一个新结点, 并将当前节点设置为她的父节点
mRrtCurrentNode = RrtStarNode.ConvertUavStateToNode(_mInput.UAVTask[ITaskIndex].Stages[IStageIndex].TargetState, mRrtCurrentNode);
//设节点编号
mRrtCurrentNode.NodeIndex = mRrtTree.Count;
//增加新节点
mRrtTree.Add(mRrtCurrentNode);
}
return(isReachTarget);
}
public void GraduallyToTarget(int count, ref HashSet <RrtStarNode> mRrtTree)
{
//当count < MaxNodeNumber 的木一个值时有可能之前被 continue掉，所以不能这么写
//所以应该取count == m_RRTParameter.MaxNodeNumber并在最终异常部分处理
//判断mRRTCurrentNode是不是有效的.
var targetNode = RrtStarNode.ConvertUavStateToNode(_mInput.UAVTask[ITaskIndex].Stages[IStageIndex].TargetState);
var finalCost = mRrtTree.Where(e => e.IsValid).Min(e => e.CostFuncValue + MLineCostFunc(e, targetNode));
RrtStarNode finalNode = mRrtTree.FirstOrDefault(e => e.CostFuncValue + MLineCostFunc(e, targetNode) == finalCost);
/*
* var TargetNode = RRTStarNode.ConvertUAVStateToNode(m_Input.UAVTask[iTaskIndex].Stages[iStageIndex].TargetState);
* RRTStarNode FinalNode = null;
* double FinalCost = double.MaxValue;
* //寻找最短路径
* foreach (var tmpNode in mRRTTree)
* {
* if (tmpNode.IsValid)
* {
* var tmpCost = tmpNode.CostFuncValue + mLineCostFunc(tmpNode, TargetNode);
* if (tmpCost < FinalCost)
* {
* FinalCost = tmpCost;
* FinalNode = tmpNode;
* }
* }
* }*/
if (finalNode == null)
{
ConstructFailedPath(ref mRrtTree);
}
else
{
//设置目标点为最后一个新结点, 并将当前节点设置为她的父节点
var mRrtFinalNode = RrtStarNode.ConvertUavStateToNode(_mInput.UAVTask[ITaskIndex].Stages[IStageIndex].TargetState, finalNode);
//设节点编号
mRrtFinalNode.NodeIndex = count;
//增加新节点
mRrtTree.Add(mRrtFinalNode);
}
}
private void UpdateTreeNode(RrtStarNode currentNode, ref List <MyTreeNode> resultList)
{
MyTreeNode tmp = new MyTreeNode();
tmp.NodeLocation = currentNode.NodeLocation;
tmp.Direction = double.MinValue;
tmp.CostFuncValue = currentNode.CostFuncValue;
tmp.Index = currentNode.NodeIndex;
if (currentNode.ParentNode == null)
{
tmp.ParentNode = null;
}
else
{
tmp.ParentNode = resultList.First(e => e.Index == currentNode.ParentNode.NodeIndex);
}
resultList.Add(tmp);
foreach (var node in currentNode.ChildNodes)
{
UpdateTreeNode(node, ref resultList);
}
}
/// <summary>
/// 本DEMO中给出的目标函数的定义,以最短距离为最优目标
/// </summary>
/// <param name="lNode"></param>
/// <param name="rNode"></param>
/// <returns></returns>
protected double CostFunc(RrtStarNode lNode, RrtStarNode rNode)
{
return(FPoint3.DistanceBetweenTwoSpacePointsXY(lNode.NodeLocation, rNode.NodeLocation));
}
/// <summary>
/// 为单架无人机规划航迹
/// </summary>
/// <param name="iTaskIndex">无人机/任务索引</param>
/// <returns></returns>
protected virtual MPath BuildPathForSingleUav(int iTaskIndex)
{
//实例化航路
MPath mPath = new MPath();
mPath.Index = AlgoInput.UAVTask[iTaskIndex].Index;
mPath.Waypoints = new List <MWaypoint>();
int iWaypointIndex = 0;
//基本RRT函数库
RrtStarHelper helper = null;
//定义树
HashSet <RrtStarNode> mRrtStarTree = null;
//定义航路
List <RrtStarNode> mRrtPath = null;
//定义树节点
RrtStarNode mRrtNode = null;
//定义树中间节点
RrtStarNode mRrtRandNode = null;
RrtStarNode mRrtNearNode = null;
RrtStarNode mRrtNewSteerNode = null;
HashSet <RrtStarNode> mFinalNodeSet = null;
//计数器
int nCount = 1;
//对每一个阶段规划航路
for (int iStageIndex = 0; iStageIndex < AlgoInput.UAVTask[iTaskIndex].Stages.Count; ++iStageIndex)
{
//初始化函数库
helper = new RrtStarHelper(MRandom, MRrtParameter, iTaskIndex, iStageIndex, AlgoInput, IsSafePoint, IsSafeLine);
//加载委托函数
helper.MLineCostFunc += CostFunc;
//实例化
mRrtStarTree = new HashSet <RrtStarNode>();
mFinalNodeSet = new HashSet <RrtStarNode>();
//初始化计数器
nCount = 1;
//加入开始点为第一个点
mRrtNode = new RrtStarNode(0, AlgoInput.UAVTask[iTaskIndex].Stages[iStageIndex].StartState.Location, nCount, null);
mRrtStarTree.Add(mRrtNode);
//是否到达目标 - 初始未到达
bool isReachTarget = false;
//循环构建新点 - 到达目标时自动退出
while (!isReachTarget)
{
//-------------------------------随机生成节点--------------------------------//
//随机生成节点
mRrtRandNode = helper.RandomConfiguration(mFinalNodeSet.Count == 0);
//-----------------------------------end-------------------------------------//
//----------------------------搜索距离最近的节点-----------------------------//
mRrtNearNode = helper.NearestNeighbor(mRrtStarTree, mRrtRandNode);
//-----------------------------------end-------------------------------------//
//------------------------------延伸生成新节点-------------------------------//
mRrtNewSteerNode = helper.Steer(mRrtNearNode, mRrtRandNode);
//-----------------------------------end-------------------------------------//
//计数器累加
nCount = nCount + 1;
//-----------------------如果到达允许的搜索上限,则退出-----------------------//
if (nCount >= MRrtParameter.MaxNodeNumber)
{
Console.WriteLine("MaxNodeNumber!");
break;
}
//-----------------------------------end-------------------------------------//
//------------------------------扩展树 - 核心--------------------------------//
if (IsSafeLine(mRrtNewSteerNode.NodeLocation, mRrtNearNode.NodeLocation) && IsSafePoint(mRrtNewSteerNode.NodeLocation))
{
//此处SteerNode已经添加到Tree中
helper.ExpandTree(ref mRrtStarTree, mRrtNearNode, mRrtNewSteerNode, nCount);
}
else
{
continue;
}
//-----------------------------------end-------------------------------------//
//------------判断新结点到目标连线是否安全, 若安全则直接连接目标点-----------//
if (MRrtParameter.ReachMode == TargetReachMode.Direct)
{
isReachTarget = isReachTarget || helper.DirectlyToTarget(mRrtNewSteerNode, ref mRrtStarTree);
}
else if (MRrtParameter.ReachMode == TargetReachMode.Gradual)
{
helper.MarkingValid(mRrtNewSteerNode, ref mFinalNodeSet);
}
//-----------------------------------end-------------------------------------//
//----------------------------Branch and Bound-------------------------------//
if (mFinalNodeSet.Count > 10)
{
helper.BranchAndBound(ref mFinalNodeSet, ref mRrtStarTree);
}
//-----------------------------------end-------------------------------------//
}
if (nCount >= MRrtParameter.MaxNodeNumber)
{
if (MRrtParameter.ReachMode == TargetReachMode.Direct)
{
helper.ConstructFailedPath(ref mRrtStarTree);
}
else if (MRrtParameter.ReachMode == TargetReachMode.Gradual)
{
//GraduallyToTarget方法就是检查当 nCount == m_RRTParameter.MaxNodeNumber 时的结果
//所以在本部分需要为IsVailid添加标签。
helper.GraduallyToTarget(nCount, ref mRrtStarTree);
}
}
mRrtPath = BuildPath(mRrtStarTree);
//为可视化输出保存
_visualization.MPathForVisualizaition = mRrtStarTree.ToList();
if (!PathPlaningDataVisualization.PathPlaningDataVisualization.AlgoDataDict.ContainsKey(mPath.Index.ToString() + "-" + iStageIndex.ToString()))
{
//为ResultShowForm分析窗口保存数据
//3.30.2018 刘洋添加
PathPlaningDataVisualization.PathPlaningDataVisualization.AlgoDataDict.Add(mPath.Index.ToString() + "-" + iStageIndex.ToString(), _visualization.MyTreeNodeConverter(_visualization.MPathForVisualizaition));
}
else
{
PathPlaningDataVisualization.PathPlaningDataVisualization.AlgoDataDict[mPath.Index.ToString() + "-" + iStageIndex.ToString()] = _visualization.MyTreeNodeConverter(_visualization.MPathForVisualizaition);
}
//添加当前阶段航路到总航路(起始航路点为当前阶段, 目标航路点为下一个阶段, 注意总航路的最后一个航路点属于最后一个阶段)
for (int k = 0; k < mRrtPath.Count - 1; ++k)
{
mPath.Waypoints.Add(new MWaypoint(iWaypointIndex, RrtStarNode.ConvertNodeToUavState(mRrtPath[k]), iStageIndex));
iWaypointIndex = iWaypointIndex + 1;
}
}
//增加最后的目标点
mPath.Waypoints.Add(new MWaypoint(iWaypointIndex, RrtStarNode.ConvertNodeToUavState(mRrtPath[mRrtPath.Count - 1]),
AlgoInput.UAVTask[iTaskIndex].Stages.Count - 1));
//返回路径
return(mPath);
}
/// <summary>
/// 寻找SteerNode 的附近节点
/// </summary>
/// <param name="mRrtStarTrees"></param>
/// <param name="steerNode"></param>
/// <returns></returns>
public HashSet <RrtStarNode> NearNeighbors(ref HashSet <RrtStarNode> mRrtStarTrees, RrtStarNode steerNode)
{
double Tolerance = 10E-7;
//原始算法测试结果
//double radiusConst = m_RRTParameter.Step*1.1;
//double radius = Math.Max(m_RRTParameter.FixedNearDistanceRatio * Math.Pow(Math.Log(2, mRRTStarTrees.Count) / mRRTStarTrees.Count, 1.0 / 2), radiusConst);
double radius = MRrtParameter.Step * MRrtParameter.FixedNearDistanceRatio;
HashSet <RrtStarNode> resultSet = new HashSet <RrtStarNode>();
resultSet.Clear();
/*
* //并行操作优化
* //貌似会慢1S左右。。。。。
* ResultSet = mRRTStarTrees.AsParallel().Where(node => DistanceBetweenTwoNode(node, SteerNode) <= radius && node != SteerNode).ToHashSet();
*/
foreach (var node in mRrtStarTrees)
{
if (DistanceBetweenTwoNode(node, steerNode) <= radius && node != steerNode)
{
resultSet.Add(node);
}
}
if (resultSet.Count > MRrtParameter.TriggerNum && MRrtParameter.NearNodesFilter)
{
var query = resultSet.GroupBy(e => e.ParentNode);
var tmpResultSet = new HashSet <RrtStarNode>();
foreach (var group in query)
{
var minDis = group.Min(e => e.CostFuncValue + DistanceBetweenTwoNode(e, steerNode));
var minNode = group.First(e => Math.Abs((e.CostFuncValue + DistanceBetweenTwoNode(e, steerNode)) - minDis) <= Tolerance);
tmpResultSet.Add(minNode);
}
// var tmpResultSet = new HashSet<RrtStarNode>();
// foreach (var item in resultSet)
// {
// if(item.ParentNode != null)
// tmpResultSet.Add(item.ParentNode);
// }
// if(tmpResultSet.Count != 0)
// resultSet = tmpResultSet;
}
return(resultSet);
}