/// <summary>
/// Liefert den Pfad zum Knoten d
/// </summary>
/// <param name="d">Zielknote<n/param>
/// <returns></returns>
public List<Node> getPathTo(Node d)
{
if (d == null)
{
return new List<Node>();
}
List<Node> path = new List<Node>();
path.Insert(0, d);
while (Previous[d.Name] != null)
{
d = Previous[d.Name];
path.Insert(0, d);
}
if (d.Name.Equals(_startNode.Name))
{
return path;
}
else
{
return new List<Node>();
}
}
/// <summary>
/// Berechnet die kürzesten Wege vom start
/// Knoten zu allen anderen Knoten
/// </summary>
/// <param name="start">Startknoten</param>
public void calculateDistance(Node start)
{
_startNode = start;
Dist[start.Name] = 0;
while (Basis.Count > 0)
{
Node u = getNodeWithSmallestDistance();
if (u == null)
{
Basis.Clear();
}
else
{
foreach (Node v in getNeighbors(u))
{
double alt = Dist[u.Name] +
getDistanceBetween(u, v);
if (alt < Dist[v.Name])
{
Dist[v.Name] = alt;
Previous[v.Name] = u;
}
}
Basis.Remove(u);
}
}
}
/// <summary>
/// Konstruktor
/// </summary>
/// <param name="origin">Startknoten</param>
/// <param name="destination">Zielknoten</param>
/// <param name="distance">Distanz</param>
public Edge(Node origin, Node destination, double distance)
{
this._origin = origin;
this._destination = destination;
this._distance = distance;
}
private void CreateNode(int startX, int startY, int range, MapExplored mapExplored)
{
for (int i = startX; i < startX + range; i++)
{
for (int j = startY; j < startY + range; j++)
{
MapElementStatus status = mapExplored.GetStatus(i, j);
// don't create node if any pixel in range x range is blocked
if (status == MapElementStatus.Blocked)
{
return;
}
}
}
// if node is free -> save
Node node = new Node(GenerateName(startX / GRID_SIZE, startY / GRID_SIZE));
_nodeMatrix[startX / GRID_SIZE, startY / GRID_SIZE] = node;
_nodeList.Add(node);
}
/// <summary>
/// Liefert die Distanz zwischen zwei Knoten
/// </summary>
/// <param name="o">Startknoten</param>
/// <param name="d">Endknoten</param>
/// <returns></returns>
public double getDistanceBetween(Node o, Node d)
{
foreach (Edge e in Edges)
{
if (e.Origin.Equals(o) && e.Destination.Equals(d))
{
return e.Distance;
}
}
return 0;
}
/// <summary>
/// Liefert alle Nachbarn von n die noch in der Basis sind
/// </summary>
/// <param name="n">Knoten</param>
/// <returns></returns>
public List<Node> getNeighbors(Node n)
{
List<Node> neighbors = new List<Node>();
foreach (Edge e in Edges)
{
if (e.Origin.Equals(n) && Basis.Contains(n))
{
neighbors.Add(e.Destination);
}
}
return neighbors;
}