/// <summary>
/// Expands a node.
/// </summary>
/// <param name='node'>
/// Node to be expanded
/// </param>
private void expandNode(ARAstarNode node)
{
nodesExpanded++;
Open.Remove(node.action.state);
if (node.g > node.rhs)
{
node.g = node.rhs;
Close.Insert(node);
}
else
{
node.g = Mathf.Infinity;
UpdateVertex(node);
}
generateNodeSuccessors(ref node);
if (Visited.nodeForState(stateReached).h > node.h)
{
stateReached = node.action.state;
}
if (!usingHeap)
{
Open.Sort();
}
if (node == null)
{
Status = PathStatus.NoPath;
}
}
public void MoveToOpen(ref OpenContainer open)
{
List <ARAstarNode> templist = new List <ARAstarNode> ();
templist = incons.Values.ToList();
foreach (ARAstarNode node in templist)
{
open.Insert(node);
incons.Remove(node.action.state);
}
open.Sort();
}
public void MoveToOpen(ref OpenContainer open)
{
List<ARAstarNode> templist = new List<ARAstarNode> ();
templist = incons.Values.ToList ();
foreach (ARAstarNode node in templist) {
open.Insert (node);
incons.Remove (node.action.state);
}
open.Sort ();
}