protected AbstractNode(AbstractState state, AbstractState target, AbstractNode Parent, AbstractAction action)
{
this.State = state;
this.Target = target;
this.Parent = Parent;
this.Action = action;
}
public RouteFindingNode(AbstractNode parent, AbstractAction action, RouteFindingState state, RouteFindingState target)
: base(state, target, parent, action)
{
if (this.Parent != null && this.Action != null)
this.PathCost = this.Parent.PathCost + action.Cost;
this.EstimatedTotalPathCost = this.PathCost + Math.Sqrt(Math.Pow(state.X - target.X, 2) + Math.Pow(state.Y - target.Y, 2));
}
public InferenceNode(AbstractNode parent, AbstractState target, AbstractState state, AbstractAction action)
: base(state, target, parent, action)
{
this.PathCost = this.Parent.PathCost + 1;
this.EstimatedTotalPathCost = this.State.Clause.Count;
}
public AbstractNode Resolve(AbstractNode parent, AbstractAction action, AbstractState targetState)
{
return new RouteFindingNode(parent, action, action.EndState as RouteFindingState, targetState as RouteFindingState);
}
public AbstractNode Resolve(AbstractNode parent, AbstractAction action, AbstractState targetState)
{
return this.ApplyResolution(parent as InferenceNode, action);
}
public InferenceNode ApplyResolution(InferenceNode parent, AbstractAction act)
{
var state = new InferenceState();
var actionState = act.StartState as InferenceState;
foreach (var firstLiteral in parent.State.Clause)
{
foreach (var secondLiteral in actionState.Clause)
{
if (firstLiteral.Name.Equals(secondLiteral.Name) && firstLiteral.Proposition != secondLiteral.Proposition)
{
// Merger samtlige literals fra de to clauses
state.Clause = parent.State.Clause.Concat(actionState.Clause).ToList();
// Fjern en enkelt positiv og en enkelt negativ
state.Clause.Remove(state.Clause.First(lit => lit.Name.Equals(secondLiteral.Name) && lit.Proposition));
state.Clause.Remove(state.Clause.First(lit => lit.Name.Equals(secondLiteral.Name) && !lit.Proposition));
// Fjerne duplikater, f.eks. A & A & B -> A & B
state.Clause = state.Clause.Distinct().ToList();
return new InferenceNode(parent, parent.Target, state, new InferenceAction(state, parent.Target));
}
}
}
//Fjerner resten af modsatte literals..
return new InferenceNode(parent, parent.Target, state, new InferenceAction(state, parent.Target));
}
