Class to search the best path between two nodes on a graph. More...

Public Member Functions
	AStarz (Graph G)
	AStar Constructor.
bool	SearchPath (Node StartNode, Node EndNode)
	Searches for the best path to reach the specified EndNode from the specified StartNode.
void	Initialize (Node StartNode, Node EndNode)
	Use for a 'step by step' search only. This method is alternate to SearchPath. Initializes AStar before performing search steps manually with NextStep.
bool	NextStep ()
	Use for a 'step by step' search only. This method is alternate to SearchPath. The algorithm must have been initialize before.
bool	ResultInformation (out int NbArcsOfPath, out double CostOfPath)
	Returns information on the result.

Public Attributes
Graph	_Graph

Properties
static Heuristic	EuclidianHeuristic `[get]`
	Heuristic based on the euclidian distance : Sqrt(Dx�+Dy�+Dz�)
static Heuristic	MaxAlongAxisHeuristic `[get]`
	Heuristic based on the maximum distance : Max(\|Dx\|, \|Dy\|, \|Dz\|)
static Heuristic	ManhattanHeuristic `[get]`
	Heuristic based on the manhattan distance : \|Dx\|+\|Dy\|+\|Dz\|.
Heuristic	ChoosenHeuristic `[get, set]`
	Gets/Sets the heuristic that AStar will use. It must be homogeneous to arc's cost.
float	DijkstraHeuristicBalance `[set]`
	This value must belong to [0; 1] and it determines the influence of the heuristic on the algorithm. If this influence value is set to 0, then the search will behave in accordance with the Dijkstra algorithm. If this value is set to 1, then the cost to come to the current node will not be used whereas only the heuristic will be taken into account.
Node[][]	Open `[get]`
	Use for debug in 'step by step' mode only. Returns all the tracks found in the 'Open' list of the algorithm at a given time. A track is a list of the nodes visited to come to the current node.
Node[][]	Closed `[get]`
	Use for debug in a 'step by step' mode only. Returns all the tracks found in the 'Closed' list of the algorithm at a given time. A track is a list of the nodes visited to come to the current node.
bool	Initialized `[get]`
	To know if the search has been initialized.
bool	SearchStarted `[get]`
	To know if the search has been started.
bool	SearchEnded `[get]`
	To know if the search has ended.
bool	PathFound `[get]`
	To know if a path has been found.
int	StepCounter `[get]`
	Use for a 'step by step' search only. Gets the number of the current step. -1 if the search has not been initialized. 0 if it has not been started.
Node[]	PathByNodes `[get]`
	Gets the array of nodes representing the found path.
Vector3[]	PathByCoordinates `[get]`
	Gets the array of arcs representing the found path.

Detailed Description

Class to search the best path between two nodes on a graph.

Constructor & Destructor Documentation

◆ AStarz()

Pathfinding.AStarz.AStarz ( Graph G )

AStar Constructor.

Parameters

G	The graph on which AStar will perform the search.

Member Function Documentation

◆ Initialize()

void Pathfinding.AStarz.Initialize	(	Node	StartNode,
		Node	EndNode )

Use for a 'step by step' search only. This method is alternate to SearchPath. Initializes AStar before performing search steps manually with NextStep.

Exceptions

ArgumentNullException StartNode and EndNode cannot be null.

Parameters

StartNode	The node from which the path must start.
EndNode	The node to which the path must end.

◆ NextStep()

bool Pathfinding.AStarz.NextStep ( )

Use for a 'step by step' search only. This method is alternate to SearchPath. The algorithm must have been initialize before.

Exceptions

InvalidOperationException You must initialize AStar before using NextStep().

Returns: 'true' unless the search ended.

◆ ResultInformation()

bool Pathfinding.AStarz.ResultInformation	(	out int	NbArcsOfPath,
		out double	CostOfPath )

Returns information on the result.

Parameters

NbArcsOfPath	The number of arcs in the result path / -1 if no result.
CostOfPath	The cost of the result path / -1 if no result.

Returns: 'true' if the search succeeded / 'false' if it failed.

◆ SearchPath()

bool Pathfinding.AStarz.SearchPath	(	Node	StartNode,
		Node	EndNode )

Searches for the best path to reach the specified EndNode from the specified StartNode.

Exceptions

ArgumentNullException StartNode and EndNode cannot be null.

Parameters

StartNode	The node from which the path must start.
EndNode	The node to which the path must end.

Returns: 'true' if succeeded / 'false' if failed.

Member Data Documentation

◆ _Graph

Graph Pathfinding.AStarz._Graph

Property Documentation

◆ ChoosenHeuristic

Heuristic Pathfinding.AStarz.ChoosenHeuristic

getset

Gets/Sets the heuristic that AStar will use. It must be homogeneous to arc's cost.

◆ Closed

Node [][] Pathfinding.AStarz.Closed

get

Use for debug in a 'step by step' mode only. Returns all the tracks found in the 'Closed' list of the algorithm at a given time. A track is a list of the nodes visited to come to the current node.

◆ DijkstraHeuristicBalance

float Pathfinding.AStarz.DijkstraHeuristicBalance

set

This value must belong to [0; 1] and it determines the influence of the heuristic on the algorithm. If this influence value is set to 0, then the search will behave in accordance with the Dijkstra algorithm. If this value is set to 1, then the cost to come to the current node will not be used whereas only the heuristic will be taken into account.

Exceptions

ArgumentException Value must belong to [0;1].

◆ EuclidianHeuristic

Heuristic Pathfinding.AStarz.EuclidianHeuristic

staticget

Heuristic based on the euclidian distance : Sqrt(Dx�+Dy�+Dz�)

◆ Initialized

bool Pathfinding.AStarz.Initialized

get

To know if the search has been initialized.

◆ ManhattanHeuristic

Heuristic Pathfinding.AStarz.ManhattanHeuristic

staticget

Heuristic based on the manhattan distance : |Dx|+|Dy|+|Dz|.

◆ MaxAlongAxisHeuristic

Heuristic Pathfinding.AStarz.MaxAlongAxisHeuristic

staticget

Heuristic based on the maximum distance : Max(|Dx|, |Dy|, |Dz|)

◆ Open

Node [][] Pathfinding.AStarz.Open

get

Use for debug in 'step by step' mode only. Returns all the tracks found in the 'Open' list of the algorithm at a given time. A track is a list of the nodes visited to come to the current node.

◆ PathByCoordinates

Vector3 [] Pathfinding.AStarz.PathByCoordinates

get

Gets the array of arcs representing the found path.

Exceptions

InvalidOperationException You cannot get a result unless the search has ended.

Gets the array of points representing the found path.

Exceptions

InvalidOperationException You cannot get a result unless the search has ended.

◆ PathByNodes

Node [] Pathfinding.AStarz.PathByNodes

get

Gets the array of nodes representing the found path.

Exceptions

InvalidOperationException You cannot get a result unless the search has ended.

◆ PathFound

bool Pathfinding.AStarz.PathFound

get

To know if a path has been found.

◆ SearchEnded

bool Pathfinding.AStarz.SearchEnded

get

To know if the search has ended.

◆ SearchStarted

bool Pathfinding.AStarz.SearchStarted

get

To know if the search has been started.

◆ StepCounter

int Pathfinding.AStarz.StepCounter

get

Use for a 'step by step' search only. Gets the number of the current step. -1 if the search has not been initialized. 0 if it has not been started.

Public Member Functions

Public Attributes

Properties

Detailed Description

Constructor & Destructor Documentation

◆ AStarz()

Member Function Documentation

◆ Initialize()

◆ NextStep()

◆ ResultInformation()

◆ SearchPath()

Member Data Documentation

◆ _Graph

Property Documentation

◆ ChoosenHeuristic

◆ Closed

◆ DijkstraHeuristicBalance

◆ EuclidianHeuristic

◆ Initialized

◆ ManhattanHeuristic

◆ MaxAlongAxisHeuristic

◆ Open

◆ PathByCoordinates

◆ PathByNodes

◆ PathFound

◆ SearchEnded

◆ SearchStarted

◆ StepCounter