public bool DoesContain(Node n)
{
//bool total = true;
foreach (Node temp in Nodes)
{
bool t = true;
List<Person> tempList = new List<Person>();
tempList.AddRange(temp.persons);
foreach (Person p in n.persons)
{
Person tempPerson = tempList.FirstOrDefault(per => per.type == p.type && per.state == p.state);
if (!(tempPerson.state == p.state && tempPerson.type == p.type))
{
t = false;
}
tempList.Remove(tempPerson);
}
if (t)
return false;
}
return true;
}
public bool reconstruct_path(Node current_node, Node start)
{
if (current_node.cameFrom != null)
{
reconstruct_path(current_node.cameFrom, start);
total.Add(current_node);
return true;
}
else
{
total.Add(current_node);
if (current_node == start)
return true;
return false;
}
}
private List<int> neighbour_nodes(Node x)
{
List<int> neighbours = new List<int>();
foreach (Edge edge in graph.Edges)
{
if (edge.isDirected)
{
if (edge.FromNode == x.Id)
neighbours.Add(edge.ToNode);
}
else
{
if (edge.FromNode == x.Id)
neighbours.Add(edge.ToNode);
else if (edge.ToNode == x.Id)
neighbours.Add(edge.FromNode);
}
}
return neighbours;
}
private Node lowestF_Score(Node goal, double g_Score)
{
double f_score = 0;
Node lowest = null;
foreach (Node temp in openSet)
{
if (lowest == null)
{
lowest = temp;
double tempg_Score = g_Score + dist_between(temp, goal);
double temph_Score = heuristic_estimate_of_distance(temp, goal);
f_score = tempg_Score + temph_Score;
}
else
{
double tempg_Score = g_Score + dist_between(temp, goal);
double temph_Score = heuristic_estimate_of_distance(temp, goal);
double tempf_score = tempg_Score + temph_Score;
if (tempf_score < f_score)
{
lowest = temp;
f_score = tempf_score;
}
}
}
return lowest;
}
private bool isNeighbour(Node neighbour, Node current)
{
foreach (Edge edge in graph.Edges)
{
if (edge.isDirected)
{
if (edge.FromNode == neighbour.Id && edge.ToNode == current.Id)
return true;
}
else
{
if (edge.FromNode == neighbour.Id && edge.ToNode == current.Id)
return true;
else if (edge.ToNode == neighbour.Id && edge.FromNode == current.Id)
return true;
}
}
return false;
}
private double heuristic_estimate_of_distance(Node start, Node goal)
{
//manhattan distance
//return (start.position.x - goal.position.x) + (start.position.y - goal.position.y);
return 0;
}
private double dist_between(Node x, Node y)
{
return 0;
//return Math.Sqrt(Math.Pow(x.position.Length(), 2) + Math.Pow(y.position.Length(), 2));
}
public void AddNode(int id, State mOne, State mTwo, State mThree, State kOne, State kTwo, State kThree, State Boat)
{
Node n = new Node(id, mOne, mTwo, mThree, kOne, kTwo, kThree, Boat);
Nodes.Add(n);
}
public void AddNode(Node n)
{
Nodes.Add(n);
}