/// <summary>
/// Return nodes after expanding
/// </summary>
/// <param name="prob">Problem that generates successors</param>
public List<Node> Expand(Problem prob)
{
List<Node> childNodes = new List<Node> ();
//Get successors for this state
State origin = this.State;
List<KeyValuePair<Vector2,State>> successors = prob.Successor (origin);
//Create a node with each posibility
foreach (var successor in successors) {
Vector2 action = successor.Key;
State destination = successor.Value;
int cost = prob.PathCost(this.State,successor.Key,successor.Value);
int heurtree = prob.HeurTree(destination);
int heurgraph = prob.HeurGraph(destination);
double utility = prob.Utility(destination);
//Node parent = this;
childNodes.Add(new Node(destination,this,action,cost,heurtree,heurgraph,utility));
}
return childNodes;
}
