public void GetPath(TState from, TState to, GetStateHash <TState> getHash, GetSuccessors <TState> getSuccessors,
GCost <TState> gCost, HCost <TState> forward, HCost <TState> backward, List <TState> thePath)
{
if (InitializeSearch(from, to, getHash, getSuccessors, gCost, forward, backward, thePath) == false)
{
return;
}
while (!ExpandAPair(thePath))
{
}
}
public bool InitializeSearch(TState from, TState to, GetStateHash <TState> getHash, GetSuccessors <TState> getSuccessors,
GCost <TState> gCost, HCost <TState> forward, HCost <TState> backward, List <TState> thePath)
{
_getStateHash = getHash;
_gCost = gCost;
_getSuccessors = getSuccessors;
_forwardHeuristic = forward;
_backwardHeuristic = backward;
_currentCost = double.MaxValue;
_queue.Reset();
ResetNodeCount();
thePath.Clear();
_start = from;
_goal = to;
if (_start.Equals(_goal))
{
return(false);
}
_queue.ForwardQueue.AddOpenNode(_start, _getStateHash(_start), 0, _forwardHeuristic(_start, _goal));
_queue.BackwardQueue.AddOpenNode(_goal, _getStateHash(_goal), 0, _backwardHeuristic(_goal, _start));
return(true);
}
