//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 Node GetMinWeightRudeNode(PlanCourse planCourse, ArrayList 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);
}
//从PlanCourse表中取出目标节点的PassedPath，这个PassedPath即是规划结果
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);
}
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);
}
//获取权值最小的路径
public 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)
{
if (originID != edge.EndNodeID)
{
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));
}