public static Stack <TileNode> Dijkstra(TileGraph tg, TileNode start, TileNode end)
{
frontier = new SimplePriorityQueue <TileNode, float>();
frontier.Enqueue(start, 0f);
node_dict = DijkstraInitialDictLoad(start, tg);
List <TileNode> Expanded = new List <TileNode>();
TileNode v;
TileNode other;
float edge_weight;
float dist_to_node;
float cost_so_far;
while (frontier.Count > 0)
{
v = frontier.Dequeue();
cost_so_far = node_dict[v].dist;
Expanded.Add(v);
//List<Edge> experiment = tg.getAdjacentEdges(v) as List<Edge>;
foreach (Edge adj_edge in tg.GetAdjacentEdges(v))
{
other = adj_edge.GetNeighbor(v);
edge_weight = adj_edge.Weight;
dist_to_node = node_dict[other].dist;
if (cost_so_far + edge_weight < dist_to_node)
{
node_dict[other].dist = cost_so_far + edge_weight;
node_dict[other].parent = v;
}
if (!Expanded.Any(node => node.isEqual(other)) && !frontier.Any(node => node.isEqual(other)))
{
frontier.Enqueue(other, node_dict[other].dist);
}
}
}
Path = NodeDictToPath(node_dict, start, end);
return(Path);
}
