public void SetNeighbours(List <Node> neighbours, IRobotGrid grid)
{
neighbours.ForEach(x => {
if (x.Parent == null && x.IsInitialized && !x.Equals(grid.StartNode))
{
x.CalculateGnFromNode(this, grid);
x.CalculateHeruisticFromNode(grid);
x.SetParent(this);
}
else
{
var oldGn = x.Gn;
if (x.CalculateGnFromNode(this, grid) < oldGn)
{
x.SetParent(this);
}
else
{
x.Gn = oldGn;
}
}
if (!Neighbours.Contains(x, new NodeComparer()))
{
Neighbours.Add(x);
}
});
}
public static MoveType CalculateMoveType(this Node currentNode, Node node, IRobotGrid grid)
{
return((MoveType)Enum.Parse(typeof(MoveType),
currentNode.NeighboursIndexes(grid.SizeX, grid.SizeY)
.First(x => x.X == node.Position.X && x.Y == node.Position.Y)
.AdditionalData));
}
private void ClearGrid()
{
nodeGrid.Children.Clear();
star = null;
end = null;
robotGrid = null;
nodeLabels.Clear();
}
private void GenerateNodeGrid()
{
ClearGrid();
if (sizeX == 0 || sizeY == 0)
{
throw new Exception("Grid size is not initialized.");
}
var nodePosition = new NodePosition {
X = -450, Y = -350, AdditionalData = "LabelPosition"
};
robotGrid = new RobotGrid(sizeX, sizeY, horizontalCost, verticalCost, diagonalCost);
for (int i = 0; i < sizeY; i++)
{
for (int j = 0; j < sizeX; j++)
{
CreateNode(robotGrid.AllNodes.GetValue(i, j) as Node, nodePosition);
nodePosition.X += 55;
}
nodePosition.X = -450;
nodePosition.Y += 55;
}
}
public static int CalculateHeruisticFromNode(this Node node, IRobotGrid grid)
{
grid.CalculateHeruisticFromNode(node);
return(node.Hn);
}
public static IEnumerable <Node> FindNeighbours(this Node node, IRobotGrid grid) => grid.FindNeighbours(node);
public static Node SelectNextNode(this Node currentNode, IRobotGrid grid) => grid.SelectNextNode(currentNode);
public static int CalculateGnFromNode(this Node node, Node currentNode, IRobotGrid grid)
{
grid.CalculateGnFromNode(node, currentNode);
return(node.Gn);
}
