/// <summary>
/// The AStar algorithm implementation
/// </summary>
/// <param name="p_stateSpace">The state space to explore</param>
/// <returns>TRUE if a path was found, FALSE if not</returns>
public IStateNode GeneratePath(IStateSpace p_stateSpace)
{
if (p_stateSpace == null)
{
throw new InvalidOperationException("Cannot generate a path with a NULL state space");
}
p_stateSpace.ResetPath();
m_openList.Clear();
var node = p_stateSpace.GetStartState();
if (node == null)
{
throw new InvalidOperationException("The state space did not return a valid Start State");
}
node.ActualCostFromStart = 0;
m_openList.Add(node);
while (m_openList.Count > 0)
{
var state = m_openList.RemoveLowest();
state.IsClosed = true;
if (p_stateSpace.IsGoalState(state))
{
return(state);
}
foreach (var sp in p_stateSpace.Successors(state))
{
if (!sp.IsClosed)
{
UpdateCell(state, sp, p_stateSpace);
}
}
}
return(null); // no path found
}
