private Couple <int> AStarTreeSearch()
{
Console.WriteLine("A* Tree Search:");
SortedList <AStarTreeNode> openedNodes = new SortedList <AStarTreeNode>()
{
new AStarTreeNode(distanceMethod, 0, startPosition)
};
int minSteps = -1;
int examinedNodes = 0;
while (openedNodes.Count > 0)
{
examinedNodes++;
AStarTreeNode currentNode = openedNodes[0];
openedNodes.RemoveAt(0);
if (IsGoal(currentNode))
{
minSteps = currentNode.DistanceFromRoot;
break;
}
openedNodes.AddAll(GetSuccessors(currentNode));
}
return(new Couple <int>(minSteps, examinedNodes));
}
