public AStarNode(AStarNode previousNode, VacuumAgent.VacuumAction action)
{
_action = action;
_state = new CustomEnvState(previousNode._state, action);
/// Calcul du cout associe a ce noeud
/// Le cout pour atteindre ce noeud est donnee par le coup des actions precedente
_costToRechNode = previousNode._costToRechNode;
if (previousNode._action == VacuumAgent.VacuumAction.GrabClean)
{
/// On ajoute 1 si l'action precedente est grab clean car cela represente deux actions
_costToRechNode += 2;
}
else
{
_costToRechNode += 1;
}
_costToReachSolution = _costToRechNode + (action == VacuumAgent.VacuumAction.Clean ? 0 : (action == VacuumAgent.VacuumAction.GrabClean ? 1 : _state.EuclidianActionHeuristic()));
}
public BFSNode(CustomEnvState previousState, VacuumAgent.VacuumAction action)
{
_action = action;
_state = new CustomEnvState(previousState, action);
}
