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Removed unreachable state and added check to remove duplicate entries in toVisit

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C9Glax 2022-11-17 20:33:21 +01:00
parent 3770ff9b57
commit cc48016874
1 changed files with 2 additions and 5 deletions
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7
astar/Astar.cs
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@ -20,10 +20,6 @@ namespace astar
SetDistanceToGoal(start, Convert.ToSingle(Utils.DistanceBetweenNodes(start, goal)));
while (toVisit.Count > 0 && GetTimeRequiredToReach(toVisit[0]) < GetTimeRequiredToReach(goal))
{
if(currentNode == goal)
{
logger?.Log(LogLevel.INFO, "Way found, checking for shorter option.");
}
currentNode = toVisit.First();
logger?.Log(LogLevel.VERBOSE, "toVisit-length: {0} path-length: {1} goal-distance: {2}", toVisit.Count, timeRequired[currentNode], goalDistance[currentNode]);
//Check all neighbors of current node
@ -34,7 +30,8 @@ namespace astar
SetDistanceToGoal(e.neighbor, Convert.ToSingle(Utils.DistanceBetweenNodes(e.neighbor, goal)));
SetTimeRequiredToReach(e.neighbor, GetTimeRequiredToReach(currentNode) + e.time);
SetPreviousNodeOf(e.neighbor, currentNode);
toVisit.Add(e.neighbor);
if (!toVisit.Contains(e.neighbor))
toVisit.Add(e.neighbor);
}
}