// Porovná hodnoty uzlů, přednost má ten, u kterého je součet vzdálenosti od počátku a odhadovaná vzdálenost od konce menší
public int CompareTo(PathfindingNode other)
{
if (FCost == other.FCost)
{
return(GCost.CompareTo(other.GCost));
}
return(FCost.CompareTo(other.FCost));
}
public int CompareTo(Cell other)
{
int result = FCost.CompareTo(other.FCost);
if (result == 0)
{
result = GCost.CompareTo(other.GCost);
}
return(-result); //we need to return -result because higher F or G cost means that Cell has lower priority
}
public void GetPath(TState from, TState to, GetStateHash <TState> getHash, GetSuccessors <TState> getSuccessors,
GCost <TState> gCost, HCost <TState> forward, HCost <TState> backward, List <TState> thePath)
{
if (InitializeSearch(from, to, getHash, getSuccessors, gCost, forward, backward, thePath) == false)
{
return;
}
while (!ExpandAPair(thePath))
{
}
}
public int CompareTo(Node other)
{
int compare = FCost.CompareTo(other.FCost);
if (compare == 0)
{
compare = HCost.CompareTo(other.HCost);
}
if (compare == 0)
{
compare = GCost.CompareTo(other.GCost);
}
return(-compare);
}
public bool InitializeSearch(TState from, TState to, GetStateHash <TState> getHash, GetSuccessors <TState> getSuccessors,
GCost <TState> gCost, HCost <TState> forward, HCost <TState> backward, List <TState> thePath)
{
_getStateHash = getHash;
_gCost = gCost;
_getSuccessors = getSuccessors;
_forwardHeuristic = forward;
_backwardHeuristic = backward;
_currentCost = double.MaxValue;
_queue.Reset();
ResetNodeCount();
thePath.Clear();
_start = from;
_goal = to;
if (_start.Equals(_goal))
{
return(false);
}
_queue.ForwardQueue.AddOpenNode(_start, _getStateHash(_start), 0, _forwardHeuristic(_start, _goal));
_queue.BackwardQueue.AddOpenNode(_goal, _getStateHash(_goal), 0, _backwardHeuristic(_goal, _start));
return(true);
}
public override int GetHashCode()
{
return((GCost.GetHashCode() + HCost.GetHashCode() + FCost.GetHashCode() + Position.GetHashCode()) * 26);
}
public int CompareTo(DijkstraNode other)
{
return(-GCost.CompareTo(other.GCost));
}
