public ExpandingNode GetMaxLeafNode(int stopLevel)
{
List <ExpandingNode> .Enumerator e = nodeList.GetEnumerator();
double maxVal = -0.1;
ExpandingNode maxLeafNode = null;
while (e.MoveNext())
{
// if it is less than stop level and child count = 0
if (e.Current.level < stopLevel && e.Current.childrenNodes.Count == 0)
{
// only expanding NEW node
if (e.Current.state == ExpandingNode.STATE.NEW)
{
if (e.Current.maxVal > maxVal)
{
maxLeafNode = e.Current;
maxVal = e.Current.maxVal;
}
}
}
}
treeMaxVal = maxVal;
return(maxLeafNode);
}
public ExpandingTree(ExpandingNode root)
{
nodeList = new List <ExpandingNode>();
rootNode = root;
root.AddToParent(null);
nodeList.Add(root);
}
public void AddToParent(ExpandingNode node, ExpandingNode parent)
{
if (parent != null)
{
node.AddToParent(parent);
nodeList.Add(node);
}
}
public ExpandingNode(PlanningNode node)
{
planningNode = node;
parentNode = null;
childrenNodes = new List <ExpandingNode>();
minVal = 0.0;
maxVal = Double.MaxValue;
level = -1;
instRwd = 0.0;
futrRwd = 0.0;
state = STATE.NEW;
}
public void AddToParent(ExpandingNode parent)
{
parentNode = parent;
if (parent != null)
{
parent.childrenNodes.Add(this);
level = parent.level + 1;
}
else
{
level = 0;
}
}
public HexaPath GetPath(ExpandingNode node)
{
HexaPath path = new HexaPath();
ExpandingNode currentNode = node;
while (currentNode != null)
{
path.InsertFront(currentNode.planningNode.pos);
currentNode = currentNode.parentNode;
}
return(path);
}
public void BackPropagateMinVal(ExpandingNode node, double val)
{
// set self minVal
node.minVal = val;
ExpandingNode parent = node.parentNode;
// stop at the root
while (parent != null && parent.minVal < val)
{
parent.minVal = val;
parent = parent.parentNode;
}
}
public ExpandingNode GetMaxChild(ExpandingNode node)
{
ExpandingNode maxChild = null;
double maxVal = -0.1;
List <ExpandingNode> .Enumerator e = node.childrenNodes.GetEnumerator();
while (e.MoveNext())
{
if (e.Current.maxVal > maxVal)
{
maxChild = e.Current;
maxVal = e.Current.maxVal;
}
}
return(maxChild);
}
private void FormatVertex(object sender, FormatVertexEventArgs <ExpandingNode> e)
{
ExpandingNode ent = e.Vertex;
//e.VertexFormatter.Label = ent.GetName();
e.VertexFormatter.Shape = GraphvizVertexShape.Record;
e.VertexFormatter.Style = GraphvizVertexStyle.Filled;
switch (ent.state)
{
case ExpandingNode.STATE.NEW:
e.VertexFormatter.FillColor = Color.Orange;
break;
case ExpandingNode.STATE.EXPANDED:
e.VertexFormatter.FillColor = Color.Red;
break;
case ExpandingNode.STATE.FREEZED:
e.VertexFormatter.FillColor = Color.LightBlue;
break;
}
GraphvizRecord rec = new GraphvizRecord();
GraphvizRecordCell name = new GraphvizRecordCell();
name.Text = ent.GetName();
GraphvizRecordCell maxScore = new GraphvizRecordCell();
maxScore.Text = ent.maxVal.ToString();
GraphvizRecordCell minScore = new GraphvizRecordCell();
minScore.Text = ent.minVal.ToString();
rec.Cells.Add(name);
rec.Cells.Add(maxScore);
rec.Cells.Add(minScore);
e.VertexFormatter.Record = rec;
}
