/// <summary>
/// Adds the specified node to the open nodes collection.
/// </summary>
/// <param name="node">Node to be added.</param>
/// <param name="gValue">Calculated distance from the start.</param>
/// <param name="predecessor">Predecessor node.</param>
/// <param name="appliedOperator">Predecessor operator.</param>
protected override void AddToOpenNodes(ISearchNode node, int gValue, ISearchNode predecessor, IOperator appliedOperator)
{
if (gValue > LimitValue)
{
return;
}
NodeInfo nodeInfo;
if (NodesInfo.TryGetValue(node, out nodeInfo))
{
if (nodeInfo.GValue > gValue)
{
nodeInfo.GValue = gValue;
nodeInfo.Predecessor = Tuple.Create(predecessor, appliedOperator);
NodesInfo[node] = nodeInfo;
double hValue = Heuristic.GetValue(node);
OpenNodes.Add(gValue + hValue, node);
}
}
else
{
double hValue = Heuristic.GetValue(node);
double fValue = gValue + hValue;
if (fValue > LimitValue)
{
LowestValueOverLimit = Math.Min(LowestValueOverLimit, fValue);
return;
}
NodesInfo.Add(node, new NodeInfo(gValue, Tuple.Create(predecessor, appliedOperator)));
OpenNodes.Add(fValue, node);
}
}
/// <summary>
/// Sets the initial search node of the search procedure.
/// </summary>
/// <param name="initialNode">Initial node of the search.</param>
protected override void SetInitialNode(ISearchNode initialNode)
{
foreach (var item in OpenLists)
{
item.Add(0, initialNode);
++AllOpenNodesCount;
}
NodesInfo.Add(initialNode, new NodeInfo(0, null));
}
/// <summary>
/// Adds the specified node to the open nodes collection.
/// </summary>
/// <param name="node">Node to be added.</param>
/// <param name="gValue">Calculated distance from the start.</param>
/// <param name="hValue">Heuristic distance to the goal.</param>
/// <param name="predecessor">Predecessor node.</param>
/// <param name="appliedOperator">Predecessor operator.</param>
protected void AddToOpenNodes(ISearchNode node, int gValue, double hValue, ISearchNode predecessor, IOperator appliedOperator)
{
NodeInfo nodeInfo;
if (NodesInfo.TryGetValue(node, out nodeInfo))
{
if (nodeInfo.GValue > gValue)
{
nodeInfo.GValue = gValue;
nodeInfo.Predecessor = Tuple.Create(predecessor, appliedOperator);
NodesInfo[node] = nodeInfo;
OpenNodes.Add(gValue + hValue, node);
}
}
else
{
NodesInfo.Add(node, new NodeInfo(gValue, Tuple.Create(predecessor, appliedOperator)));
OpenNodes.Add(gValue + hValue, node);
}
}