private bool Expand
(
MAM_AgentState node
)
{
if (expandedNodes.Contains(node))
{
nodesExpanded--;
return(false);
}
UpdateBestCost(node);
expandedNodes.Add(node);
foreach (MAM_AgentState child in node.GetChildrenStates())
{
Generate(node, child);
}
return(true);
}
private bool Expand
(
MAM_AgentState node
)
{
MMStarConstraint queryConstraint = new MMStarConstraint(node.agentIndex, node.lastMove.x, node.lastMove.y, node.lastMove.direction, node.lastMove.time);
if (constraints.Contains(queryConstraint))
{
return(false);
}
if (expandedNodes.Contains(node))
{
nodesExpanded--;
return(false);
}
expandedNodes.Add(node);
foreach (MAM_AgentState child in node.GetChildrenStates())
{
Generate(node, child);
}
return(true);
}