/// <summary>
/// Constructor
/// </summary>
/// <param name="start">Node to start plan</param>
/// <param name="goal">Node to end plan</param>
/// <param name="removed">Nodes to not plan over</param>
public aStar(INavigableNode start, INavigableNode goal, List<NavigableEdge> removed)
{
// initialize OPEN and CLOSED lists
this.open = new PriorityHeap();
this.closed = new Dictionary<string, INavigableNode>(CoreCommon.RoadNetwork.ArbiterWaypoints.Count);
// set start and null backpointer
this.start = start;
this.start.Previous = null;
this.start.ResetPlanningCosts();
// set goal and null backpointer
this.goal = goal;
this.goal.Previous = null;
this.goal.ResetPlanningCosts();
// set removed
this.removedEdges = removed;
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="start">Node to start plan</param>
/// <param name="goal">Node to end plan</param>
/// <param name="removed">Nodes to not plan over</param>
public aStar(INavigableNode start, INavigableNode goal, List <NavigableEdge> removed)
{
// initialize OPEN and CLOSED lists
this.open = new PriorityHeap();
this.closed = new Dictionary <string, INavigableNode>(CoreCommon.RoadNetwork.ArbiterWaypoints.Count);
// set start and null backpointer
this.start = start;
this.start.Previous = null;
this.start.ResetPlanningCosts();
// set goal and null backpointer
this.goal = goal;
this.goal.Previous = null;
this.goal.ResetPlanningCosts();
// set removed
this.removedEdges = removed;
}
