public virtual void search(State s)
{
branchingCount = 1;
branchingSum = 1;
maxGVal = 0;
printMessage("--- search started ---", quiet);
State currentState = null;
predecessor = new Dictionary <State, State>();
gValues.Clear();
openNodes.clear();
start = DateTime.Now;
openNodes.insert(0, s);
gValues.Add(s, new StateInformation());
predecessor.Add(s, null);
int steps = -1;
while (openNodes.size() > 0)
{
steps++;
if (steps % 10000 == 0)
{
printSearchStats(quiet);
}
currentState = openNodes.removeMin();
if (gValues[currentState].isClosed)
{
continue;
}
addToClosedList(currentState);
if (currentState.isFinal())
{
DateTime end = DateTime.Now;
searchTime = (end - start);
int GVAL = gValues[currentState].gValue;
printMessage("search ended in " + searchTime.TotalSeconds + " seconds, plan length: " + GVAL, quiet);
printSearchStats(quiet);
this.result = extractSolution(currentState);
this.solutionCost = GVAL;
printMessage("--- search ended ---", quiet);
return;
}
int currentGValue = gValues[currentState].gValue;
currentState.getSuccessors(successors);
branchingSum += successors.Count;
branchingCount++;
foreach (var item in successors)
{
State state = item.state;
int gVal = currentGValue + item.cost;
addToOpenList(state, gVal, currentState);
}
}
printMessage("No solution exists.", quiet);
}
