public GAAStarLazy(Maze maze, bool mark_path, bool step_by_step,
TieBreakingStrategy tie_breaking_strategy, Heuristic heuristic, int neighborhood)
{
h = maze.GetH();
w = maze.GetW();
open_list = new BinaryHeap(w * h);
graph = new GAAStarNode[h, w];
for (int y = 0; y < h; y++)
{
for (int x = 0; x < w; x++)
{
graph[y, x] = new GAAStarNode(maze.GetMazeCell(x, y), tie_breaking_strategy);
//مقدار کشف کننده فعلاً تعیین نمیشود
}
}
this.heuristic = heuristic;
this.mark_path = mark_path;
this.step_by_step = step_by_step;
this.neighborhood = neighborhood;
goal = graph[maze.GetGoal().Y, maze.GetGoal().X];
start = graph[maze.GetStart().Y, maze.GetStart().X];
new_goal = null;
path_cost_last_execution = n_searches = 0;
unblocked_cells = null;
piece_of_pseudo_code_being_executed = PieceOfPseudoCode.Null;// null;
delta_h = new List <int>();
path_cost = new List <int>();
delta_h.Add(0); /* delta_h(0) := 0 */
path_cost.Add(0); /* path_cost(0) := 0 */
}
public GAAStarNode(Cell maze_cell, TieBreakingStrategy tie_breaking_strategy)
{
this.maze_cell = maze_cell;
search = 0;
f = g = h = INFINITY_INT;
this.tie_breaking_strategy = tie_breaking_strategy;
}
/* Public: */
public AStar(Maze maze, bool mark_path, bool step_by_step,
TieBreakingStrategy tie_breaking_strategy,
Heuristic heuristic, int neighborhood)
{
h = maze.GetH();
w = maze.GetW();
open_list = new BinaryHeap(w * h);
graph = new AStarNode[h, w];
for (int y = 0; y < h; y++)
{
for (int x = 0; x < w; x++)
{
graph[y, x] = new AStarNode(maze.GetMazeCell(x, y), tie_breaking_strategy);
graph[y, x].h = heuristic.DistanceToGoal(graph[y, x].GetMazeLightCell(), maze.GetGoal());
}
}
has_solution = false;
this.mark_path = mark_path;
this.step_by_step = step_by_step;
this.neighborhood = neighborhood;
goal = graph[maze.GetGoal().Y, maze.GetGoal().X];
start = graph[maze.GetStart().Y, maze.GetStart().X];
start.parent = null;
start.g = start.GetMazeLightCell().GetCost();
start.f = start.g + start.h;
open_list.Insert(start);
}
/* Public: */
public DStarLite(Maze maze, bool mark_path, bool step_by_step,
TieBreakingStrategy tie_breaking_strategy,
Heuristic heuristic, int neighborhood)
{
h = maze.GetH();
w = maze.GetW();
open_list = new BinaryHeap(w * h);
graph = new DStatLiteNode[h, w];
for (int y = 0; y < h; y++)
{
for (int x = 0; x < w; x++)
{
graph[y, x] = new DStatLiteNode(maze.GetMazeCell(x, y), tie_breaking_strategy);
graph[y, x].h = heuristic.DistanceToGoal(graph[y, x].GetMazeCell(), maze.GetGoal());
if (maze.cells[y, x].GetCost() == 0x7F)
{
graph[y, x].type_robot_vision = 1;
//graph[y, x].real_type = 1;
}
else
{
graph[y, x].type_robot_vision = 0;
//graph[y, x].real_type = 0;
}
graph[y, x].g = (graph[y, x].rhs = 2147483647);
graph[y, x].iteration = mazeiteration;
graph[y, x].parent = null;
}
}
has_solution = false;
this.mark_path = mark_path;
this.step_by_step = step_by_step;
this.neighborhood = neighborhood;
goal = graph[maze.GetGoal().Y, maze.GetGoal().X];
start = graph[maze.GetStart().Y, maze.GetStart().X];
start.parent = null;
start.g = start.GetMazeCell().GetCost();
start.f = start.g + start.h;
open_list.Insert(start);
//------------------------------
this.cde = new Key.Key_comparator();
this.u = new TreeSet(this.cde);
this.goal.rhs = 0;
//this.iteration += 1;
this.u.clear();
this.u.add(new Key(this.goal));
this.goal.real_type = (this.goal.type_robot_vision = 0);
this.start.real_type = (this.start.type_robot_vision = 0);
}
public Node(int x, int y)
{
this.parent = null;
this.X = x;
this.Y = y;
this.h = 0;
this.used = false;
this.type_robot_vision = (this.real_type = 0);
this.g = (this.rhs = 2147483647);
this.iteration = 0;
tie_breaking_strategy = TieBreakingStrategy.HIGHEST_G_VALUES;
}
public Node(Cell maze_cell, TieBreakingStrategy tie_breaking_strategy)
{
closed = false;
this.maze_cell = maze_cell;
this.tie_breaking_strategy = tie_breaking_strategy;
this.parent = null;
this.maze_cell.X = maze_cell.X;
this.maze_cell.Y = maze_cell.Y;
this.h = 0;
this.used = false;
this.type_robot_vision = (this.real_type = 0);
this.g = (this.rhs = 2147483647);
this.iteration = 0;
}
private void comboTieBreaking_SelectedIndexChanged(object sender, EventArgs e)
{
switch (comboTieBreaking.SelectedIndex)
{
case 0:
tie_breaking_strategy = TieBreakingStrategy.HIGHEST_G_VALUES;
break;
case 1:
tie_breaking_strategy = TieBreakingStrategy.SMALLEST_G_VALUES;
break;
case 2:
tie_breaking_strategy = TieBreakingStrategy.NONE;
break;
}
}
public AStarNode(Cell maze_cell, TieBreakingStrategy tie_breaking_strategy)
{
closed = false;
this.maze_cell = maze_cell;
this.tie_breaking_strategy = tie_breaking_strategy;
}
