private static List <IPosition> ReconstructPath(PositionMap <Position> cameFrom, Position current)
{
var totalPath = new List <IPosition> {
current
};
while (cameFrom.ContainsKey(current))
{
current = cameFrom[current];
totalPath.Add(current);
}
return(totalPath);
}
public double this[Position position]
{
// The get accessor.
get
{
if (positionMap.ContainsKey(position))
{
return(positionMap[position]);
}
return(double.PositiveInfinity);
}
set
{
positionMap[position] = value;
}
}
public Position GetLowest(PositionSet openSet)
{
Position lowest = null;
bool first = true;
double lowestValue = 0;
foreach (Position a in openSet)
{
if (positionMap.ContainsKey(a))
{
double value = positionMap[a];
if (first || lowestValue < value)
{
lowest = a;
lowestValue = value;
first = false;
}
}
}
return(lowest);
}