void AStar::FoundNode(Node *current_point, Node *new_point)
{
unsigned int g_value = CalculG(current_point, new_point->pos);
if (g_value < new_point->g)
{
new_point->g = g_value;
new_point->parent = current_point;
PercolateUp(GetIndex(new_point));
}
}
void AStar::NotFoundNode(Node *current_point, Node *new_point, const Point &end)
{
new_point->parent = current_point;
new_point->g = CalculG(current_point, new_point->pos);
new_point->h = CalculH(new_point->pos, end);
Node *&node_ptr = maps_index_[new_point->pos.row * num_row_ + new_point->pos.col];
assert(node_ptr == nullptr);
node_ptr = new_point;
node_ptr->state = IN_OPENLIST;
open_list_.push_back(new_point);
std::push_heap(open_list_.begin(), open_list_.end(), CompHeap);
}
void CalculTau(double **Pi,double **F, int nbClass,int nbInd,double **G,double **Tau)
{
//Déclaration et initialisation des variables locales;
int x,y;
double NormF = 0;
//Calcul de la matrice G nécessaire au calcul des Tau;
CalculG(Pi,F,nbClass,nbInd,G);
//Double boucle permettant de calculer Tau à tout les instants t(sauf le dernier) et pour toutes les classes;
for(x=(nbInd-2); x>=0; x--){
for(y=0; y<nbClass; y++){
Tau[x][y] = F[x][y]*CalculSommeTau(Pi,Tau,G,0,nbClass,y,x+1);
}
}
}