/// <summary> /// 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 /// </summary> /// <returns></returns> private Node GetMinWeightRudeNode(PlanCourse planCourse, List<Node> nodeList, string originID) { double weight = double.MaxValue; Node destNode = null; foreach (Node node in nodeList) { if (node.ID == originID) { continue; } PassedPath pPath = planCourse[node.ID]; if (pPath.BeProcessed) { continue; } if (pPath.Weight < weight) { weight = pPath.Weight; destNode = node; } } return destNode; }
/// <summary> /// 获取权值最小的路径 /// </summary> /// <param name="nodeList"></param> /// <param name="originID"></param> /// <param name="destID"></param> /// <returns></returns> public RoutePlanResult Paln(List<Node> nodeList, string originID, string destID) { //初始化起始节点到其他节点的路径表(权值,经过的节点,是否被处理) //同时初始化其他节点的路径表 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.PassedNodeList.Clear(); for (int i = 0; i < curPath.PassedNodeList.Count; i++) { targetPath.PassedNodeList.Add(curPath.PassedNodeList[i]); } targetPath.PassedNodeList.Add(curNode); } } //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); }
/// <summary> /// 从PlanCourse表中取出目标节点的PassedPath,这个PassedPath即是规划结果 /// </summary> /// <returns></returns> private RoutePlanResult GetResult(PlanCourse planCourse, string destID) { PassedPath pPath = planCourse[destID]; if (pPath.Weight == int.MaxValue) { RoutePlanResult result1 = new RoutePlanResult(null, int.MaxValue); return result1; } Node[] passedNodeIDs = new Node[pPath.PassedNodeList.Count]; for (int i = 0; i < passedNodeIDs.Length; i++) { passedNodeIDs[i] = pPath.PassedNodeList[i]; } RoutePlanResult result = new RoutePlanResult(passedNodeIDs, pPath.Weight); return result; }