std::vector<Vect3f> CAStar::Execute()
{
//CNode* n_FirstNode = new CNode("Init",Vect3f(0.0f,0.0f,0.0f),0.0f,0.0f);
m_CurrentNode = m_Nodes[0];
m_CurrentNode->SetPriority(m_CurrentNode->GetLevel()+Heuristic(m_CurrentNode,m_EndPosition)); //TODO Calculate Priority
m_OpenNodes.push_back(m_CurrentNode);
while(!IsFinalNode(m_CurrentNode))
{
if(!AllNodesVisited())
{
VisitNextNode(m_CurrentNode);
}
}
while(m_CurrentNode->GetParent()!=NULL)
{
m_Result.push_back(m_CurrentNode->GetPosition());
m_CurrentNode=m_CurrentNode->GetParent();
}
m_Result.push_back(m_CurrentNode->GetPosition());
return m_Result;
}
// ---------------------------------------------------------------------------
// CSmileyModel::SmileyStringLength
// ---------------------------------------------------------------------------
//
TInt CSmileyModel::SmileyStringLength( TInt aNodeIndex )
{
if ( IsFinalNode( aNodeIndex ) )
{
TInt linkIndex( iStrArray[aNodeIndex].iChild & ~KLinkIndexMark );
return iLinkArray[linkIndex].iStrLength;
}
return 0;
}
// ---------------------------------------------------------------------------
// CSmileyModel::FindMatchStr
// ---------------------------------------------------------------------------
//
TInt CSmileyModel::TryFindMatchNode( const TDesC& aText, TInt aTextPos )
{
TInt index( 0 );
index = FindInSibling( index, aText[aTextPos] );
TInt textPos( aTextPos + 1 );
while ( index != KInvalidIndex && !IsFinalNode( index ) &&
textPos < aText.Length() )
{
index = iStrArray[index].iChild;
index = FindInSibling( index, aText[textPos] );
if ( index != KInvalidIndex )
{
textPos++;
}
}
return index;
}
void CAStar::ProcesarVecinos(CNode* Node)
{
/*¿Cómo obtener vecinos del NODO?*/
for(size_t i=0;i<Node->m_Neighbours.size();++i)
{
if(!Node->m_Neighbours[i]->GetClosed())
{
CalculateG(Node->m_Neighbours[i]);
if(std::find(m_OpenNodes.begin(), m_OpenNodes.end(), Node->m_Neighbours[i]) != m_OpenNodes.end())
{ //Esta en la lista de nodos abiertos
float l_NewG = Node->GetLevel() + Node->m_Neighbours[i]->GetLevel();
if(l_NewG < Node->m_Neighbours[i]->GetLevel())
{
Node->m_Neighbours[i]->SetParent(Node);
Node->m_Neighbours[i]->SetLevel(l_NewG);
Node->m_Neighbours[i]->SetPriority(Node->m_Neighbours[i]->GetLevel()+Heuristic(Node->m_Neighbours[i],m_EndPosition));
}
} else //No está en la lista de nodos abiertos
{
Node->m_Neighbours[i]->SetParent(Node);
if(IsFinalNode(Node))
{
m_Finished=true;
}
else
{
//save g,h
Node->m_Neighbours[i]->SetPriority(Node->m_Neighbours[i]->GetLevel()+Heuristic(Node->m_Neighbours[i],m_EndPosition));
m_OpenNodes.push_back(Node->m_Neighbours[i]);
}
}
}
}
}
