static void Main(string[] args)
{
AOGraph graph = new AOGraph();
graph.CreateNode(0, 0, 50, false);
graph.CreateNode(1, double.MaxValue, 30, false);
graph.CreateNode(2, double.MaxValue, 20, false);
graph.CreateNode(3, double.MaxValue, 20, false);
graph.CreateNode(4, double.MaxValue, 20, false);
graph.CreateNode(5, double.MaxValue, 20, false);
graph.CreateNode(6, double.MaxValue, 15, true);
graph.CreateNode(7, double.MaxValue, 15, true);
graph.CreateNode(8, double.MaxValue, 15, true);
graph.CreateNode(9, double.MaxValue, 15, true);
graph.CreateOperator(0, new int[] { 1 }, 0);
graph.CreateOperator(0, new int[] { 2, 3 }, 38);
graph.CreateOperator(1, new int[] { 4, 5 }, 17);
graph.CreateOperator(2, new int[] { 6, 7 }, 9);
graph.CreateOperator(3, new int[] { 8, 9 }, 27);
/*
* HashSet<Operator> ops = graph.Nodes.ElementAt(0).Operators;
* foreach(Operator op in ops)
* Console.WriteLine(op.Ends.Count);
*/
AOStar.Find(graph, 0);
Console.ReadKey();
}
private void Run(AOGraph mGraph, int start)
{
foreach (Node node in mGraph.Nodes)
{
this.costs.Add(node.Id, double.MaxValue);
}
this.opened.Add(mGraph.Nodes.ElementAt(start));
this.costs[start] = 0;
while (opened.Count > 0)
{
/// current => is the best node to continue search from it's sub graph
Node current = opened.Min();
opened.Remove(current);
closed.Add(current);
if (current.IsTerminal)
{
this.terminals.Add(current);
Refresh(current.Parent);
continue;
}
else
{
foreach (Operator op in current.Operators)
{
bool solveable = true;
foreach (Node successor in op.Ends)
{
if (!successor.IsTerminal && (successor.Operators == null || successor.Operators.Count == 0))
{
solveable = false;
break;
}
}
if (solveable)
{
foreach (Node successor in op.Ends)
{
successor.Parent = current;
successor.Cost = current.Cost + G(current, successor);
///Here we must to override the comparator.
if (!opened.Contains(successor) && !closed.Contains(successor))
{
costs[successor.Id] = successor.Cost;
opened.Add(successor);
}
}
}
else
{
Refresh(current);
}
}
}
}
if (costs[start] >= double.MaxValue)
{
Console.WriteLine("No available paths from start = [{0:D}]", start);
return;
}
Console.WriteLine("Best solution = " + this.costs[start]);
foreach (Node node in mGraph.Nodes)
{
Console.WriteLine(node.Cost + ", " + costs[node.Id]);
}
}
/// <summary>
/// Find all available paths from start node in the defined graph
/// </summary>
/// <param name="graph">The data set where graph is exist</param>
/// <param name="start">Id of node which will consider as root</param>
public static void Find(AOGraph graph, int start)
{
new AOStar().Run(graph, start);
}
