/// <summary>
/// ��������� ����� � ����������� ��������� ����� ������������ ������ ���������������
/// </summary>
/// <param name="expansionMatrices">������� ���������������</param>
/// <param name="allPoints">��� ����� ����</param>
/// <returns>����� � ����������� ������</returns>
private static AStarPoint GetMinCostPoint(IDictionary <AStarPoint, ExpansionMatrixContainer> expansionMatrices,
IEnumerable <AStarPoint> allPoints)
{
var summCosts = new Dictionary <AStarPoint, double>();
foreach (var matrixPoint in allPoints)
{
summCosts.Add(matrixPoint, 0d);
foreach (var startPoint in expansionMatrices.Keys)
{
summCosts[matrixPoint] += expansionMatrices[startPoint].ExpansionMatrix[matrixPoint];
}
}
AStarPoint cps = null;
var summCost = double.MaxValue;
foreach (var matrixPoint in summCosts.Keys)
{
if (summCosts[matrixPoint] < summCost)
{
cps = matrixPoint;
summCost = summCosts[matrixPoint];
}
}
return(cps);
}
/// <summary>
/// ��������� ����� � ����������� ��������� ������� �� (� ��) �������
/// </summary>
/// <param name="expansionMatrices">������� ���������������</param>
/// <param name="notTraversedStartPoints">������ ������������ �����. ����� ��� ����� ����������� ����� �����������</param>
/// <param name="collectionPoint">������� �����</param>
/// <returns>����� � ����������� ��������� �������</returns>
private static AStarPoint GetNearestPoint(
IDictionary <AStarPoint, ExpansionMatrixContainer> expansionMatrices,
IEnumerable <AStarPoint> notTraversedStartPoints,
AStarPoint collectionPoint)
{
AStarPoint nearestPoint = null;
var minCost = double.MaxValue;
foreach (var point in notTraversedStartPoints)
{
if (expansionMatrices[point].ExpansionMatrix[collectionPoint] < minCost)
{
nearestPoint = point;
minCost = expansionMatrices[point].ExpansionMatrix[collectionPoint];
}
}
return(nearestPoint);
}
/// <summary>
/// ����� ����� � ����������� ������������� �������� (F)
/// </summary>
/// <param name="points">������ �����</param>
/// <returns>����� � ����������� ������������� ��������</returns>
private static AStarPoint GetPointWithMinF(IEnumerable <AStarPoint> points)
{
if (!points.Any())
{
throw new Exception("������ ������ �����");
}
var minF = double.MaxValue;
AStarPoint resultPoint = null;
foreach (var point in points)
{
if (point.F < minF)
{
minF = point.F;
resultPoint = point;
}
}
return(resultPoint);
}
/// <summary>
/// ������ ������� ���������������
/// </summary>
/// <param name="start">�����, ��� ������� �������������� ������� ���������������</param>
/// <param name="goal">������� �����. ���� null, �� ������� ��������������� �������������� �� ��������� ����� �� ���� ��������� ����� ����</param>
/// <param name="allPoints">��� ����� ����</param>
/// <returns>������� ���������������</returns>
private static ExpansionMatrixContainer GetExpansionMatrix(AStarPoint start, AStarPoint goal,
IEnumerable <AStarPoint> allPoints)
{
foreach (var point in allPoints)
{
point.CameFromPoint = null;
}
var emc = new ExpansionMatrixContainer
{
ExpansionMatrix = new Dictionary <AStarPoint, double>(),
//Path = new Dictionary<Point, IList<Point>>()
};
var closedSet = new HashSet <AStarPoint>();
var openSet = new HashSet <AStarPoint> {
start
};
start.G = 0d;
start.H = goal == null ? 0d : start.GetHeuristicCost(goal);
var pathFound = false;
while (openSet.Count > 0)
{
var x = GetPointWithMinF(openSet);
if (goal != null && x == goal)
{
pathFound = true;
break;
}
openSet.Remove(x);
closedSet.Add(x);
emc.ExpansionMatrix.Add(x, x.G);
//emc.Path.Add(x, ReconstructPath(x));
var neighbors = x.GetNeighbors();
foreach (var y in neighbors)
{
if (closedSet.Contains(y))
{
continue;
}
var tentativeGScore = x.G + x.GetCost(y);
bool tentativeIsBetter;
if (!openSet.Contains(y))
{
openSet.Add(y);
tentativeIsBetter = true;
}
else
{
tentativeIsBetter = tentativeGScore < y.G;
}
if (tentativeIsBetter)
{
y.CameFromPoint = x;
y.G = tentativeGScore;
y.H = goal == null ? 0d : y.GetHeuristicCost(goal);
}
}
}
if (goal != null && !pathFound)
{
throw new Exception("���� �� �������� ����� �� ������");
}
return(emc);
}
public Infrastructure(AStarPoint cps, IEnumerable <IList <AStarPoint> > channels)
{
Cps = cps;
Channels = channels;
}