public MazeAStar(VisionMapping vision, Func <Map2d> getMap, Func <bool> canJump, Action reset_state,
GetCameFrom get_came_from, Action <Coord, Coord, int> set_came_from,
Func <Coord, float> get_f_score, Action <Coord, float> set_f_score,
Func <Coord, float> get_g_score, Action <Coord, float> set_g_score)
{
SetAstarSourceData(vision, getMap, canJump, reset_state, get_came_from, set_came_from, get_f_score, set_f_score, get_g_score, set_g_score);
}
public GenericAStar(Func <NODE_TYPE, List <EDGE_TYPE> > getEdges, Func <NODE_TYPE, EDGE_TYPE, NODE_TYPE> getEdgeToNode,
Func <NODE_TYPE, EDGE_TYPE, float> edgeCost, Func <NODE_TYPE, NODE_TYPE, float> distanceHeuristic, Action reset_state,
GetCameFrom get_came_from, Action <NODE_TYPE, NODE_TYPE, EDGE_TYPE> set_came_from,
Func <NODE_TYPE, float> get_f_score, Action <NODE_TYPE, float> set_f_score,
Func <NODE_TYPE, float> get_g_score, Action <NODE_TYPE, float> set_g_score)
{
SetNodeAndEdgeMethods(getEdges, getEdgeToNode, edgeCost, distanceHeuristic, reset_state, get_came_from, set_came_from, get_f_score, set_f_score, get_g_score, set_g_score);
}
public void SetAstarSourceData(VisionMapping vision, Func <Map2d> getMap, Func <bool> canJump, Action reset_state,
GetCameFrom get_came_from, Action <Coord, Coord, int> set_came_from,
Func <Coord, float> get_f_score, Action <Coord, float> set_f_score,
Func <Coord, float> get_g_score, Action <Coord, float> set_g_score)
{
this.getMap = getMap;
this.canJump = canJump;
this.vision = vision;
SetNodeAndEdgeMethods(GetEdges, NextNode, EdgeCost, Dist, reset_state, get_came_from, set_came_from, get_f_score, set_f_score, get_g_score, set_g_score);
}
public void SetNodeAndEdgeMethods(Func <NODE_TYPE, List <EDGE_TYPE> > getEdges, Func <NODE_TYPE, EDGE_TYPE, NODE_TYPE> getEdgeToNode, Func <NODE_TYPE, EDGE_TYPE, float> edgeCost, Func <NODE_TYPE, NODE_TYPE, float> distanceHeuristic, Action reset_state,
GetCameFrom get_came_from, Action <NODE_TYPE, NODE_TYPE, EDGE_TYPE> set_came_from,
Func <NODE_TYPE, float> get_f_score, Action <NODE_TYPE, float> set_f_score,
Func <NODE_TYPE, float> get_g_score, Action <NODE_TYPE, float> set_g_score)
{
this.getEdges = getEdges;
this.getEdgeToNode = getEdgeToNode;
this.edgeCost = edgeCost;
this.distanceHeuristic = distanceHeuristic;
this.reset_state = reset_state;
this.get_came_from = get_came_from;
this.set_came_from = set_came_from;
this.get_f_score = get_f_score;
this.set_f_score = set_f_score;
this.get_g_score = get_g_score;
this.set_g_score = set_g_score;
}
static List <EDGE_TYPE> reconstruct_path(GetCameFrom previous, NODE_TYPE goal)
{
List <EDGE_TYPE> list = new List <EDGE_TYPE>();
NODE_TYPE prev = goal, cursor;
int loopGuard = 0;
do
{
//list.Add(prev);
EDGE_TYPE edge;
edge = previous(prev, out cursor);
if (prev.Equals(cursor))
{
break;
}
list.Add(edge);
prev = cursor;
} while (++loopGuard < 1 << 20); // hasPreviousNode);
return(list);
}
