int CompareCost(ARAstarNode n1, ARAstarNode n2)
{
float[] n1Key = n1.Key(parentPlanner.inflationFactor);
float[] n2Key = n2.Key(parentPlanner.inflationFactor);
if (n1.highPriority > 0 && n2.highPriority <= 0)
{
return(-1);
}
else if (n1.highPriority <= 0 && n2.highPriority > 0)
{
return(1);
}
else
{
if (n1Key[0] < n2Key[0])
{
return(-1);
}
else if (n1Key[0] > n2Key[0])
{
return(1);
}
else
{
if (n1Key[1] < n2Key[1])
{
return(-1);
}
else
{
return(1);
}
}
}
}
int compareKey(ARAstarNode firstNode, ARAstarNode secondNode)
{
float[] firstKey = firstNode.Key(currentWeight);
float[] secondKey = secondNode.Key(currentWeight);
if(firstKey[0] < secondKey[0])
return 1;
else if(firstKey[0] > secondKey[0])
return -1;
else{
if(firstKey[1] < secondKey[1])
return 1;
else
return -1;
}
}
int compareKey(ARAstarNode firstNode, ARAstarNode secondNode)
{
float[] firstKey = firstNode.Key(currentWeight);
float[] secondKey = secondNode.Key(currentWeight);
if (firstKey[0] < secondKey[0])
{
return(1);
}
else if (firstKey[0] > secondKey[0])
{
return(-1);
}
else
{
if (firstKey[1] < secondKey[1])
{
return(1);
}
else
{
return(-1);
}
}
}
int CompareCost(ARAstarNode n1, ARAstarNode n2)
{
float[] n1Key = n1.Key(parentPlanner.inflationFactor);
float[] n2Key = n2.Key(parentPlanner.inflationFactor);
if(n1.highPriority > 0 && n2.highPriority <= 0)
return -1;
else if(n1.highPriority <= 0 && n2.highPriority > 0)
return 1;
else{
if (n1Key[0] < n2Key[0])
return -1;
else if(n1Key[0] > n2Key[0])
return 1;
else {
if(n1Key[1] < n2Key[1])
return -1;
else
return 1;
}
}
}