/// <summary>
/// Constructor for creating a node based on a parent node and a transition to the new node.
/// </summary>
/// <param name="parent">The parent of the new node. Should not be null.</param>
/// <param name="transition">The transition to get to the new node.</param>
internal Node(Node parent, StateTransition transition)
: this(transition.NewState, parent, transition.Action, transition.ActionCost)
{
}
/// <summary>
/// See <see cref="BaseTreeSearch.CreateNodeFromTransition(Node, StateTransition)"/>.
/// </summary>
protected override Node CreateNodeFromTransition(Node parent, StateTransition transition)
{
return(new Node(parent, transition));
}
/// <summary>
/// See <see cref="BaseTreeSearch.CreateNodeFromTransition(Node, StateTransition)"/>.
/// </summary>
protected override Node CreateNodeFromTransition(Node parent, StateTransition transition)
{
return(new HeuristicNode((HeuristicNode)parent, transition, ((IHeuristicSearchProblem)_searchProblem).GetHeuristic));
}
/// <summary> /// When overridden in a derived class, returns a new <see cref="Node"/> corresponding to a given transition from a given node. /// </summary> /// <param name="parent">The <see cref="Node"/> from which to transition.</param> /// <param name="transition">The <see cref="StateTransition"/> describing the transition to the new node.</param> /// <returns>The <see cref="Node"/> corresponding to applying the given transition to the given node.</returns> protected abstract Node CreateNodeFromTransition(Node parent, StateTransition transition);
/// <summary>
/// Constructor for creating a heuristic node based on a parent node and a transition to the new node.
/// </summary>
/// <param name="parent">The parent of the new node. Should not be null.</param>
/// <param name="transition">The transition to get to the new node.</param>
/// <param name="heuristic">Function to estimate the cost of the path from the new node to the final node.</param>
internal HeuristicNode(HeuristicNode parent, StateTransition transition, Func <State, int> heuristic)
: this(transition.NewState, parent, transition.Action, transition.ActionCost, heuristic)
{
}