//Search in the central floor object to find out what is behind a certain node
//TODO add stoachastic variable for observing --> approximated edge length and
public void ObserveRoom(int nodeID, CentralFloor floor)
{
List <int> incident = floor.Graph.Node(nodeID).GetIncident;
foreach (int i in incident)
{
FloorGraphEdge e = floor.Graph.Edge(i);
//Add edge
if (!(fGraph.Edges.ContainsKey(i)))
{
fGraph.AddEdge(e.Id, e.HardCopy());
fGraph.Node(nodeID).GetIncident.Add(i);
}
//Add node
int dest = fGraph.Edge(i).GetDestination;
if (!fGraph.Nodes.ContainsKey(dest))
{
fGraph.AddNode(dest, new List <int> {
i
});
}
//Add references
if (!fGraph.Node(dest).GetIncident.Contains(i))
{
fGraph.Node(dest).GetIncident.Add(i);
}
}
}
//Build the graph using the generated data structures and a DFS algorithm
private void DFSGraphBuilder(Dictionary <int, List <int> > roomsPerDoor, Dictionary <int, List <int> > doorsPerRoom, Dictionary <int, bool> isExit, List <int> visited, int door = 1)
{
visited.Add(door);
foreach (int room in roomsPerDoor[door]) //foreach connected room
{
foreach (int child in doorsPerRoom[room]) //for each door in that room
{
if (!(visited.Contains(child)))
{
//Creat the node
//Add incoming and outgoing edge between nodes
//recurese on that node
fGraph.AddNode(child, new List <int>(), isExit[child]);
int edgeId1 = centralEdgeId++;
int edgeId2 = centralEdgeId++;
fGraph.AddEdge(edgeId1, room, child, door);
fGraph.AddEdge(edgeId2, room, door, child);
fGraph.Node(door).GetIncident.Add(edgeId1);
fGraph.Node(door).GetIncident.Add(edgeId2);
fGraph.Node(child).GetIncident.Add(edgeId1);
fGraph.Node(child).GetIncident.Add(edgeId2);
//Recurse on child
DFSGraphBuilder(roomsPerDoor, doorsPerRoom, isExit, visited, child);
}
}
}
}