/// <summary>
/// Discovers all of the neighbors of a given node
/// </summary>
/// <param name="node"> Node to discover neighbors to </param>
/// <param name="openList"> linked list containing all of the unhandled nodes. recieved to check that neighboor is not already discovered </param>
/// <returns> List of all node neighboors </returns>
private LinkedList <NFReducerNode> GetSons(NFReducerNode node, ReducerOpenList <NFReducerNode> openList)
{
LinkedList <NFReducerNode> sons = new LinkedList <NFReducerNode>();
CollectSon(openList, sons, node.nodeTime + 1, node.x, node.y);
if (node.x != this.problemGrid.Length - 1 && !problemGrid[node.x + 1][node.y])
{
CollectSon(openList, sons, node.nodeTime + 1, node.x + 1, node.y);
}
if (node.x != 0 && !problemGrid[node.x - 1][node.y])
{
CollectSon(openList, sons, node.nodeTime + 1, node.x - 1, node.y);
}
if (node.y != this.problemGrid[node.x].Length - 1 && !problemGrid[node.x][node.y + 1])
{
CollectSon(openList, sons, node.nodeTime + 1, node.x, node.y + 1);
}
if (node.y != 0 && !problemGrid[node.x][node.y - 1])
{
CollectSon(openList, sons, node.nodeTime + 1, node.x, node.y - 1);
}
return(sons);
}
public List <List <TimedMove> > bfsToStartPositions(Move goalState)
{
ReducerOpenList <BFSNode> openList = new ReducerOpenList <BFSNode>();
HashSet <BFSNode> closedList = new HashSet <BFSNode>();
List <List <TimedMove> > paths = new List <List <TimedMove> >();
openList.Enqueue(new BFSNode(goalState));
int startPositionsFound = 0;
while (openList.Count != 0)
{
BFSNode node = openList.Dequeue();
if (closedList.Contains(node))
{
continue;
}
if (findStartPosition(node.position) != null)
{
addPath(instance, paths, node);
startPositionsFound++;
if (startPositionsFound == this.instance.m_vAgents.Length)
{
break;
}
}
GetSons(node, openList, instance);
closedList.Add(node);
}
return(paths);
}
private void CollectSon(ReducerOpenList <BFSNode> openList, BFSNode node, int x, int y)
{
BFSNode son = new BFSNode(new TimedMove(x, y, Move.Direction.NO_DIRECTION, 0), node);
if (!openList.Contains(son))
{
openList.Enqueue(son);
}
}
private void CollectSon(ReducerOpenList <NFReducerNode> openList, LinkedList <NFReducerNode> sons, int nodeTime, int x, int y)
{
NFReducerNode son = new NFReducerNode(nodeTime, x, y);
if (openList.Contains(son))
{
son = openList.Get(son);
NFReducerNode.DecreaseIndexCounter();
}
sons.AddLast(son);
}
/// <summary>
/// Creates an initial network flow problem reduced from the given problem
/// </summary>
private bool CreateNFProblem(CFMAStar.CostFunction costFunction)
{
this.superSink = new NFReducerNode(-1, -1, -1);
NFNodes.Add(this.superSink);
ReducerOpenList <NFReducerNode> openList = new ReducerOpenList <NFReducerNode>();
openList.Enqueue(new NFReducerNode(0, goalState.x, goalState.y));
while (openList.Count != 0)
{
//if (timer.ElapsedMilliseconds > Constants.MCMF_MAX_TIME)
// return false;
NFReducerNode node = openList.Dequeue();
LinkedList <NFReducerNode> nodeSons = new LinkedList <NFReducerNode>();
if (l == -1 || (l != -1 && node.nodeTime != T))
{
nodeSons = GetSons(node, openList);
}
foreach (NFReducerNode son in nodeSons)
{
son.AddEdgeTo(node);
node.AddEdgeFrom(son);
if (!openList.Contains(son))
{
openList.Enqueue(son);
}
if (l == -1 && IsStartPosition(son) && this.startPositionsDict[new KeyValuePair <int, int>(son.x, son.y)] == 1)
{
this.startPositionsDict[new KeyValuePair <int, int>(son.x, son.y)] = 0;
startPositionsToDiscover--;
}
if (l == -1 && startPositionsToDiscover == 0)
{
l = son.nodeTime;
if (costFunction == CFMAStar.CostFunction.SOC)
{
T = l + startPositions.Length - 1;
}
else
{
T = l;
}
}
}
if (!NFNodes.Contains(node))
{
AddAfterDuplicationAndSinkConnection(node);
}
}
return(true);
}
private void GetSons(BFSNode node, ReducerOpenList <BFSNode> openList, ProblemInstance problem)
{
bool[][] problemGrid = problem.m_vGrid;
if (node.position.x != problemGrid.Length - 1 && !problemGrid[node.position.x + 1][node.position.y])
{
CollectSon(openList, node, node.position.x + 1, node.position.y);
}
if (node.position.x != 0 && !problemGrid[node.position.x - 1][node.position.y])
{
CollectSon(openList, node, node.position.x - 1, node.position.y);
}
if (node.position.y != problemGrid[node.position.x].Length - 1 && !problemGrid[node.position.x][node.position.y + 1])
{
CollectSon(openList, node, node.position.x, node.position.y + 1);
}
if (node.position.y != 0 && !problemGrid[node.position.x][node.position.y - 1])
{
CollectSon(openList, node, node.position.x, node.position.y - 1);
}
}
internal void addNetworkLayer()
{
ReducerOpenList <NFReducerNode> openList = new ReducerOpenList <NFReducerNode>();
this.T++;
foreach (NFReducerNode node in this.zeroLayer)
{
NFNodes.Remove(node);
openList.Enqueue(node);
}
this.zeroLayer = new List <NFReducerNode>();
while (openList.Count != 0)
{
NFReducerNode node = openList.Dequeue();
LinkedList <NFReducerNode> nodeSons = new LinkedList <NFReducerNode>();
if (node.nodeTime != T)
{
nodeSons = GetSons(node, openList);
}
foreach (NFReducerNode son in nodeSons)
{
son.AddEdgeTo(node);
node.AddEdgeFrom(son);
if (!openList.Contains(son))
{
openList.Enqueue(son);
}
}
if (!NFNodes.Contains(node))
{
AddAfterDuplicationAndSinkConnection(node);
}
}
ImportToMCMFAlgorithm();
}