/// <summary>
/// A state node has not yet been evaluated, so test it using the "current" path and
/// update its values if its a shorter path
/// </summary>
/// <param name="p_current">The node being evaluated</param>
/// <param name="p_successor">
/// A successor to that node that needs to be checked for update
/// </param>
/// <param name="p_stateSpace">The state space governing the algorithm</param>
protected virtual void UpdateCell(IStateNode p_current, IStateNode p_successor, IStateSpace p_stateSpace)
{
var deltaCost = p_stateSpace.FnCalculateActualCost(p_current, p_successor);
// If its actually shorter to get to this node from the current node
if (p_current.ActualCostFromStart + deltaCost < p_successor.ActualCostFromStart)
{
// Update the node's information to reflect its new position in the path
p_successor.ActualCostFromStart = p_current.ActualCostFromStart + deltaCost;
p_successor.Parent = p_current;
m_openList.Update(p_successor); // Will "Add" or "Update" depending on whether or not its in the queue
}
}
