public static void a_star_backwards(Floatarray costs_for_all_nodes, IGenericFst fst)
{
IGenericFst reverse = FstFactory.MakeOcroFST();
FstUtil.fst_copy_reverse(reverse, fst, true); // creates an extra vertex
AStarSearch a = new AStarSearch(reverse);
a.Loop();
costs_for_all_nodes.Copy(a.g);
costs_for_all_nodes.Pop(); // remove the extra vertex
}
public static void a_star_backwards(Floatarray costs_for_all_nodes, IGenericFst fst)
{
IGenericFst reverse = FstFactory.MakeOcroFST();
FstUtil.fst_copy_reverse(reverse, fst, true); // creates an extra vertex
AStarSearch a = new AStarSearch(reverse);
a.Loop();
costs_for_all_nodes.Copy(a.g);
costs_for_all_nodes.Pop(); // remove the extra vertex
}
public static bool a_star(Intarray inputs,
Intarray vertices,
Intarray outputs,
Floatarray costs,
OcroFST fst)
{
AStarSearch a = new AStarSearch(fst);
if (!a.Loop())
return false;
if (!a.reconstruct_vertices(vertices))
return false;
a.reconstruct_edges(inputs, outputs, costs, vertices);
return true;
}
public static bool a_star(Intarray inputs,
Intarray vertices,
Intarray outputs,
Floatarray costs,
OcroFST fst)
{
AStarSearch a = new AStarSearch(fst);
if (!a.Loop())
{
return(false);
}
if (!a.reconstruct_vertices(vertices))
{
return(false);
}
a.reconstruct_edges(inputs, outputs, costs, vertices);
return(true);
}
