AbstractionSearchEnvironment.cpp

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/*
 *  AbstractionSearchEnvironment.cpp
 *  hog
 *
 *  Created by Nathan Sturtevant on 4/5/07.
 *  Copyright 2007 Nathan Sturtevant, University of Alberta. All rights reserved.
 *
 */
 
#include "AbstractionSearchEnvironment.h"
 
 
void AbstractionSearchEnvironment::getNeighbors(uint32_t nodeID, std::vector<uint32_t> &neighbors)
{
        Graph *g = ga->GetAbstractGraph(level);
        node *n1 = g->GetNode(nodeID);
        neighbor_iterator ni = n1->getNeighborIter();
        for (int next = n1->nodeNeighborNext(ni); next != -1; next = n1->nodeNeighborNext(ni))
        {
                neighbors.push_back(next);
        }
}
 
double AbstractionSearchEnvironment::heuristic(uint32_t node1, uint32_t node2)
{
        Graph *g = ga->GetAbstractGraph(level);
        node *n1 = g->GetNode(node1);
        node *n2 = g->GetNode(node2);
        edge *e = g->FindEdge(node1, node2);
        if (e)
                return e->GetWeight();
        return ga->h(n1, n2);
}
 
double AbstractionSearchEnvironment::gcost(uint32_t node1, uint32_t node2)
{
        return heuristic(node1, node2);
}