//没有路径则返回null
public override ICollection <IPosition_Connected> SearchPath(IPosition_Connected start, IPosition_Connected end)
{
List <IPosition_Connected> path = new List <IPosition_Connected>();
if (start == end)
{
path.Add(start);
return(path);
}
//初始化
Init(start, end);
IPosition_Connected p = null, p_adj;
Tag p_tag, p_adj_tag;
Real newF, newG;
open.clear();
//将起点加入open表
open.add(start);
//当open表非空时
while (open.getSize() > 0)
{
//获得下一个最近的点
p = open.removeFirst();
//到达终点则结束
if (p == end)
{
break;
}
p_tag = list[p.GetTagIndex()];
p_tag.closed = true;
IEnumerable <IAdjacency> adj_set = p.GetAdjacencyOut();
foreach (IAdjacency adjacency in adj_set)
{
p_adj = adjacency.GetPosition_Connected();
p_adj_tag = list[p_adj.GetTagIndex()];
if (p_adj_tag.timeStamp != time_stamp)
{
newG = p_tag.g + adjacency.GetDistance();
newF = newG + evaluator.GetDistance(p_adj, end);
p_adj_tag.parent = p;
p_adj_tag.g = newG;
p_adj_tag.f = newF;
p_adj_tag.closed = false;
p_adj_tag.timeStamp = time_stamp;
open.add(p_adj);
}
else
{
if (!p_adj_tag.closed)
{
newG = p_tag.g + adjacency.GetDistance();
newF = newG + evaluator.GetDistance(p_adj, end);
if (newF < p_adj_tag.f)
{
p_adj_tag.parent = p;
p_adj_tag.g = newG;
p_adj_tag.f = newF;
open.update(p_adj);
}
}
}
}
}
GetPath(path, p, end);
return(path);
}
public override int Compare(IPosition_Connected p1, IPosition_Connected p2)
{
return(diff(list[p1.GetTagIndex()].g, list[p2.GetTagIndex()].g));
}