//从PlanCourse取出一个当前累积权值最小，并且没有被处理过的节点
private GridNode GetMinWeightRudeNode(PlanCourse planCourse, ArrayList nodeList, string originID)
{
double weight = double.MaxValue;
GridNode destNode = null;
foreach (GridNode node in nodeList)
{
if (node.ID == originID)
{
continue;
}
PassedPath pPath = planCourse[node.ID];
if (pPath.IsProcessed)
{
continue;
}
if (pPath.Weight < weight)
{
weight = pPath.Weight;
destNode = node;
}
}
return(destNode);
}
internal PlanCourse(ArrayList nodeList, string originID)
{
this._htPassedPath = new Hashtable();
GridNode originNode = null;
foreach (GridNode node in nodeList)
{
if (node.ID == originID)
{
originNode = node;
}
else
{
PassedPath pPath = new PassedPath(node.ID);
this._htPassedPath.Add(node.ID, pPath);
}
}
if (originNode == null)
{
throw new Exception("The origin node is not exist !");
}
this.InitializeWeight(originNode);
}
//获取权值最小的路径
//internal RoutePlanResult Paln(ArrayList nodeList ,string originID ,string destID)
//{
// PlanCourse planCourse = new PlanCourse(nodeList ,originID) ;
// Node curNode = this.GetMinWeightRudeNode(planCourse ,nodeList ,originID) ;
// #region 计算过程
// while(curNode != null)
// {
// PassedPath curPath = planCourse[curNode.ID] ;
// foreach(Edge edge in curNode.EdgeList)
// {
// PassedPath targetPath = planCourse[edge.EndNodeID] ;
// double tempWeight = curPath.Weight + edge.Weight ;
// if(tempWeight < targetPath.Weight)
// {
// targetPath.Weight = tempWeight ;
// targetPath.PassedIDList.Clear() ;
// for(int i=0 ;i<curPath.PassedIDList.Count ;i++)
// {
// targetPath.PassedIDList.Add(curPath.PassedIDList[i].ToString()) ;
// }
// targetPath.PassedIDList.Add(curNode.ID) ;
// }
// }
// //标志为已处理
// planCourse[curNode.ID].BeProcessed = true ;
// //获取下一个未处理节点
// curNode = this.GetMinWeightRudeNode(planCourse ,nodeList ,originID) ;
// }
// #endregion
// //表示规划结束
// return this.GetResult(planCourse ,destID) ;
//}
#endregion
#region GetResult
//从PlanCourse表中取出目标节点的PassedPath，这个PassedPath即是规划结果
private void GetResult(PlanCourse planCourse, string destID)
{
PassedPath pPath = planCourse[destID];
if (float.Equals(pPath.Weight, float.MaxValue))
{
//RoutePlanResult result1 = new RoutePlanResult(null ,int.MaxValue) ;
//return result1 ;
}
string[] passedNodeIDs = new string[pPath.PassedIDList.Count];
for (int i = 0; i < passedNodeIDs.Length; i++)
{
passedNodeIDs[i] = pPath.PassedIDList[i].ToString();
}
//RoutePlanResult result = new RoutePlanResult(passedNodeIDs ,pPath.Weight) ;
//return result ;
}
private void InitializeWeight(GridNode originNode)
{
if ((originNode.EdgeList == null) || (originNode.EdgeList.Count == 0))
{
return;
}
foreach (Edge edge in originNode.EdgeList)
{
PassedPath pPath = this[edge.EndNodeID];
if (pPath == null)
{
continue;
}
pPath.PassedIDList.Add(originNode.ID);
pPath.Weight = edge.Weight;
}
}
