public override bool InitStates(INode Start, INode Goal)
{
startNode = new ANode(Start);
goalNode = new ANode(Goal);
startNode.G = 0;
startNode.H = hCalc.Calculate(startNode, goalNode);
openList.AddValue(startNode);
return(true);
}
public abstrA()
{
expansions = 0;
foundGoalNode = null;
startNode = null;
goalNode = null;
timeAvaliable = 5000;
rewards = new Dictionary <double, double>();
openList = new NodeTable <ANode>(Comparer);
closedList = new NodeTable <ANode>(Comparer);
}
private double fvalue(ANode node)
{
return(node.G + node.H);
}
public bool winA(double TimeAvaliable)
{
currentLvl = -1;
while (stopwatch.Elapsed.TotalMilliseconds < TimeAvaliable && !stopped)
{
if (openList.Count == 0)
{
return(false);
}
ANode currentNode = openList.Min;
openList.RemoveValue(currentNode);
closedList.AddValue(currentNode);
if (foundGoalNode != null && fvalue(currentNode) > fvalue(foundGoalNode))
{
return(false);
}
if (currentNode.Level <= currentLvl - winSize)
{
closedList.RemoveValue(currentNode);
suspendList.AddValue(currentNode);
continue;
}
if (currentNode.Level > currentLvl)
{
currentLvl = currentNode.Level;
}
if (currentNode.Equals(goalNode))
{
foundGoalNode = currentNode;
rewards.Add(stopwatch.Elapsed.TotalMilliseconds, currentNode.G);
return(true);
}
IEnumerable <ANode> successorNodes = succGen.Generate(currentNode);
expansions++;
nodesGenerated += successorNodes.Count();
foreach (ANode successorNode in successorNodes)
{
ANode node1;
ANode node2;
ANode node3;
if (openList.TryGetValue(successorNode, out node1))
{
if (node1.G > successorNode.G)
{
successorNode.H = hCalc.Calculate(successorNode, goalNode);
successorNode.Level = currentNode.Level + 1;
openList.RemoveValue(node1);
openList.AddValue(successorNode);
}
}
else
if (suspendList.TryGetValue(successorNode, out node3))
{
if (node3.G > successorNode.G)
{
successorNode.H = hCalc.Calculate(successorNode, goalNode);
successorNode.Level = currentNode.Level + 1;
suspendList.RemoveValue(node3);
suspendList.AddValue(successorNode);
}
}
else
if (closedList.TryGetValue(successorNode, out node2))
{
if (node2.G > successorNode.G)
{
closedList.RemoveValue(node2);
successorNode.H = hCalc.Calculate(successorNode, goalNode);
successorNode.Level = currentNode.Level + 1;
openList.AddValue(successorNode);
}
}
else
{
successorNode.Parent = currentNode;
successorNode.H = hCalc.Calculate(successorNode, goalNode);
successorNode.Level = currentNode.Level + 1;
openList.AddValue(successorNode);
}
}
}
return(false);
}
private double fvalue(ANode n)
{
return(n.G + n.H);
}
private double fvalue2(ANode n)
{
return(n.G + w * n.H);
}
public override void Execute()
{
stopwatch.Restart();
while (stopwatch.Elapsed.TotalMilliseconds < timeAvaliable && !stopped)
{
if (openList.Count == 0)
{
isOptimalFound = true;
stopwatch.Stop();
return;
}
ANode currentNode = openList.Min;
openList.RemoveValue(currentNode);
if (currentNode.Equals(goalNode))
{
foundGoalNode = currentNode;
rewards.Add(stopwatch.Elapsed.TotalMilliseconds, currentNode.G);
continue;
}
if (foundGoalNode == null || fvalue(currentNode) < foundGoalNode.G)
{
closedList.AddValue(currentNode);
IEnumerable <ANode> successorNodes = succGen.Generate(currentNode);
expansions++;
nodesGenerated = nodesGenerated + successorNodes.Count();
foreach (ANode successorNode in successorNodes)
{
if (foundGoalNode == null || successorNode.G + hCalc.Calculate(successorNode, goalNode) < foundGoalNode.G)
{
ANode node1;
ANode node2;
bool InOpen;
bool InClosed;
if (InOpen = openList.TryGetValue(successorNode, out node1))
{
if (node1.G > successorNode.G)
{
successorNode.H = hCalc.Calculate(successorNode, goalNode);
openList.RemoveValue(node1);
openList.AddValue(successorNode);
}
}
else
if (InClosed = closedList.TryGetValue(successorNode, out node2))
{
if (node2.G > successorNode.G)
{
closedList.RemoveValue(node2);
successorNode.H = hCalc.Calculate(successorNode, goalNode);
openList.AddValue(successorNode);
}
}
else
{
successorNode.H = hCalc.Calculate(successorNode, goalNode);
openList.AddValue(successorNode);
}
}
}
}
}
stopwatch.Stop();
}
private bool Search(double timeAvaliable)
{
while (stopwatch.Elapsed.TotalMilliseconds < timeAvaliable && !stopped)
{
if (openList.Count == 0)
{
isOptimalFound = true;
return(true);
}
ANode currentNode = openList.Min;
openList.RemoveValue(currentNode);
if (currentNode.Equals(goalNode))
{
foundGoalNode = currentNode;
isOptimalFound = true;
rewards.Add(stopwatch.Elapsed.TotalMilliseconds, currentNode.G);
return(false);
}
closedList.AddValue(currentNode);
IEnumerable <ANode> successorNodes = succGen.Generate(currentNode);
expansions++;
nodesGenerated = nodesGenerated + successorNodes.Count();
foreach (ANode successorNode in successorNodes)
{
ANode node1;
ANode node2;
bool InOpen;
bool InClosed;
if (InOpen = openList.TryGetValue(successorNode, out node1))
{
if (node1.G > successorNode.G)
{
successorNode.H = hCalc.Calculate(successorNode, goalNode);
openList.RemoveValue(node1);
openList.AddValue(successorNode);
}
}
else
if (InClosed = closedList.TryGetValue(successorNode, out node2))
{
if (node2.G > successorNode.G)
{
closedList.RemoveValue(node2);
successorNode.H = hCalc.Calculate(successorNode, goalNode);
openList.AddValue(successorNode);
}
}
else
{
successorNode.H = hCalc.Calculate(successorNode, goalNode);
openList.AddValue(successorNode);
}
}
}
return(false);
}
