public AStarSearch(IInformedProblem <T> problem, IHeustisticFunction <T> heuristic)
{
Problem = problem;
Heuristic = heuristic;
PriorityQueue = new PriorityQueue <HeuristicNode <T> >();
OpenList = new HashSet <T>();
ClosedList = new HashSet <T>();
}
public HeuristicNode <T> ChildNode(IInformedProblem <T> problem, IAction <T> action, IHeustisticFunction <T> heurisctic)
{
T state = problem.Transition(this.State, action);
int stepCost = problem.StepCost(this.State, action);
int totalCost = this.PathCost + stepCost;
int heuristicCost = totalCost + heurisctic.Calculate(problem, state);
return(new HeuristicNode <T>(state, action, this, totalCost, heuristicCost));
}