void ADPlanner::BuildNewOPENList(ADSearchStateSpace_t* pSearchStateSpace)
{
ADState *state;
CKey key;
CHeap* pheap = pSearchStateSpace->heap;
CList* pinconslist = pSearchStateSpace->inconslist;
//move incons into open
while (pinconslist->firstelement != NULL) {
state = (ADState*)pinconslist->firstelement->liststate;
//compute f-value
key = ComputeKey(state);
//insert into OPEN
if (state->heapindex == 0)
pheap->insertheap(state, key);
else
pheap->updateheap(state, key); //should never happen, but sometimes it does - somewhere there is a bug TODO
//remove from INCONS
pinconslist->remove(state, AD_INCONS_LIST_ID);
}
pSearchStateSpace->bRebuildOpenList = false;
}
void ADPlanner::BuildNewOPENList(ADSearchStateSpace_t* pSearchStateSpace)
{
ADState *state;
CKey key;
CHeap* pheap = pSearchStateSpace->heap;
CList* pinconslist = pSearchStateSpace->inconslist;
//move incons into open
while(pinconslist->firstelement != NULL)
{
state = (ADState*)pinconslist->firstelement->liststate;
//compute f-value
key = ComputeKey(state);
//insert into OPEN
pheap->insertheap(state, key);
//remove from INCONS
pinconslist->remove(state, AD_INCONS_LIST_ID);
}
}
void ARAPlanner::BuildNewOPENList(ARASearchStateSpace_t* pSearchStateSpace)
{
ARAState *state;
CKey key;
CHeap* pheap = pSearchStateSpace->heap;
CList* pinconslist = pSearchStateSpace->inconslist;
//move incons into open
while (pinconslist->firstelement != NULL) {
state = (ARAState*)pinconslist->firstelement->liststate;
//compute f-value
key.key[0] = state->g + (int)(pSearchStateSpace->eps * state->h);
//key.key[1] = state->h;
//insert into OPEN
pheap->insertheap(state, key);
//remove from INCONS
pinconslist->remove(state, ARA_INCONS_LIST_ID);
}
}