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<?php |
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namespace JMGQ\AStar; |
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abstract class Algorithm |
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{ |
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private $openList; |
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private $closedList; |
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public function __construct() |
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{ |
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$this->openList = new NodeList(); |
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$this->closedList = new NodeList(); |
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} |
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/** |
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* @param Node $node |
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* @return Node[] |
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*/ |
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abstract public function generateAdjacentNodes(Node $node); |
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/** |
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* @param Node $node |
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* @param Node $adjacent |
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* @return integer | float |
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*/ |
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abstract public function calculateRealCost(Node $node, Node $adjacent); |
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/** |
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* @param Node $start |
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* @param Node $end |
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* @return integer | float |
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*/ |
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abstract public function calculateEstimatedCost(Node $start, Node $end); |
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/** |
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* @return NodeList |
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*/ |
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public function getOpenList() |
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{ |
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return $this->openList; |
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} |
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/** |
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* @return NodeList |
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*/ |
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public function getClosedList() |
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{ |
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return $this->closedList; |
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} |
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/** |
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* Sets the algorithm to its initial state |
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*/ |
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public function clear() |
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{ |
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$this->getOpenList()->clear(); |
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$this->getClosedList()->clear(); |
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} |
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/** |
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* @param Node $start |
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* @param Node $goal |
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* @return Node[] |
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*/ |
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public function run(Node $start, Node $goal) |
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{ |
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$path = array(); |
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$this->clear(); |
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$start->setG(0); |
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$start->setH($this->calculateEstimatedCost($start, $goal)); |
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$this->getOpenList()->add($start); |
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while (!$this->getOpenList()->isEmpty()) { |
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$currentNode = $this->getOpenList()->extractBest(); |
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$this->getClosedList()->add($currentNode); |
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if ($currentNode->getID() === $goal->getID()) { |
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$path = $this->generatePathFromStartNodeTo($currentNode); |
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break; |
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} |
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$successors = $this->computeAdjacentNodes($currentNode, $goal); |
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foreach ($successors as $successor) { |
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if ($this->getOpenList()->contains($successor)) { |
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$successorInOpenList = $this->getOpenList()->get($successor); |
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if ($successor->getG() >= $successorInOpenList->getG()) { |
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continue; |
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} |
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} |
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if ($this->getClosedList()->contains($successor)) { |
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$successorInClosedList = $this->getClosedList()->get($successor); |
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if ($successor->getG() >= $successorInClosedList->getG()) { |
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continue; |
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} |
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} |
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$successor->setParent($currentNode); |
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$this->getClosedList()->remove($successor); |
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$this->getOpenList()->add($successor); |
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} |
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} |
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return $path; |
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} |
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private function generatePathFromStartNodeTo(Node $node) |
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{ |
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$path = array(); |
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$currentNode = $node; |
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while ($currentNode !== null) { |
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array_unshift($path, $currentNode); |
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$currentNode = $currentNode->getParent(); |
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} |
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return $path; |
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} |
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private function computeAdjacentNodes(Node $node, Node $goal) |
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{ |
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$nodes = $this->generateAdjacentNodes($node); |
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foreach ($nodes as $adjacentNode) { |
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$adjacentNode->setG($node->getG() + $this->calculateRealCost($node, $adjacentNode)); |
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$adjacentNode->setH($this->calculateEstimatedCost($adjacentNode, $goal)); |
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} |
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return $nodes; |
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} |
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} |
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jmgq /
php-a-star
