public static List <GridLocation> run(Bitmap bitmap, GridLocation start, GridLocation goal,
ComputeCost computeCost)
{
//Debug.LogWarning("GS: setup dictionaries");
Dictionary <GridLocation, GridLocation> cameFrom = new Dictionary <GridLocation, GridLocation>();
Dictionary <GridLocation, double> costSoFar = new Dictionary <GridLocation, double>();
//Debug.LogWarning("GS: setup interval heap");
var frontier = new C5.IntervalHeap <GridLocation>();
start.priority = 0;
frontier.Add(start);
cameFrom[start] = null;
costSoFar[start] = 0;
//Debug.LogWarning("GS: while loop BEGIN");
float exitLoopTime = Time.time + 5f;
while (!frontier.IsEmpty)
{
if (Time.time > exitLoopTime)
{
Debug.LogWarning("GS: grid search timeout");
return(null);
}
//Debug.LogWarning("GS: while loop entered");
var current = frontier.DeleteMin();
if (current.Equals(goal))
{
//Debug.LogWarning("GS: current == goal");
return(RebuildPath(goal, cameFrom));
}
foreach (GridLocation next in bitmap.Neighbours(current))
{
bool usingLOS = false;
double computedCost = computeCost(current, next, cameFrom, costSoFar, ref usingLOS, bitmap);
if (!costSoFar.ContainsKey(next) || computedCost < costSoFar[next])
{
if (usingLOS)
{
cameFrom[next] = cameFrom[current];
}
else
{
cameFrom[next] = current;
}
costSoFar[next] = computedCost;
double p = computedCost + next.distanceTo(goal);
next.priority = p;
frontier.Add(next);
}
}
}
Debug.LogWarning("GS: returning null");
return(null);
}
public override int GetHashCode() {
int hash = 1;
if (Name.Length != 0) hash ^= Name.GetHashCode();
if (Device.Length != 0) hash ^= Device.GetHashCode();
if (Id != 0) hash ^= Id.GetHashCode();
hash ^= inputInfo_.GetHashCode();
hash ^= outputInfo_.GetHashCode();
if (TemporaryMemorySize != 0L) hash ^= TemporaryMemorySize.GetHashCode();
if (HostTempMemorySize != 0L) hash ^= HostTempMemorySize.GetHashCode();
if (DeviceTempMemorySize != 0L) hash ^= DeviceTempMemorySize.GetHashCode();
if (HostPersistentMemorySize != 0L) hash ^= HostPersistentMemorySize.GetHashCode();
if (DevicePersistentMemorySize != 0L) hash ^= DevicePersistentMemorySize.GetHashCode();
if (ComputeCost != 0L) hash ^= ComputeCost.GetHashCode();
if (ComputeTime != 0L) hash ^= ComputeTime.GetHashCode();
if (MemoryTime != 0L) hash ^= MemoryTime.GetHashCode();
if (IsFinal != false) hash ^= IsFinal.GetHashCode();
hash ^= controlInput_.GetHashCode();
return hash;
}
