public bool Step()
{
int node = heap.Pop();
if (node == n)
{
return(true); // accept has popped up
}
// get outbound arcs
Intarray inputs = new Intarray();
Intarray targets = new Intarray();
Intarray outputs = new Intarray();
Floatarray costs = new Floatarray();
fst.Arcs(inputs, targets, outputs, costs, node);
for (int i = 0; i < targets.Length(); i++)
{
int t = targets[i];
if (came_from[t] == -1 || g[node] + costs[i] < g[t])
{
// relax the edge
came_from[t] = node;
g[t] = g[node] + costs[i];
heap.Push(t, g[t] + Convert.ToSingle(Heuristic(t)));
}
}
if (accepted_from == -1 ||
g[node] + fst.GetAcceptCost(node) < g_accept)
{
// relax the accept edge
accepted_from = node;
g_accept = g[node] + fst.GetAcceptCost(node);
heap.Push(n, g_accept);
}
return(false);
}
