|
1
|
|
|
<?php |
|
2
|
|
|
|
|
3
|
|
|
namespace JMGQ\AStar; |
|
4
|
|
|
|
|
5
|
|
|
abstract class Algorithm |
|
6
|
|
|
{ |
|
7
|
|
|
private $openList; |
|
8
|
|
|
private $closedList; |
|
9
|
|
|
|
|
10
|
21 |
|
public function __construct() |
|
11
|
|
|
{ |
|
12
|
21 |
|
$this->openList = new NodeList(); |
|
13
|
21 |
|
$this->closedList = new NodeList(); |
|
14
|
21 |
|
} |
|
15
|
|
|
|
|
16
|
|
|
/** |
|
17
|
|
|
* @param Node $node |
|
18
|
|
|
* @return Node[] |
|
19
|
|
|
*/ |
|
20
|
|
|
abstract public function generateAdjacentNodes(Node $node); |
|
21
|
|
|
|
|
22
|
|
|
/** |
|
23
|
|
|
* @param Node $node |
|
24
|
|
|
* @param Node $adjacent |
|
25
|
|
|
* @return integer | float |
|
26
|
|
|
*/ |
|
27
|
|
|
abstract public function calculateRealCost(Node $node, Node $adjacent); |
|
28
|
|
|
|
|
29
|
|
|
/** |
|
30
|
|
|
* @param Node $start |
|
31
|
|
|
* @param Node $end |
|
32
|
|
|
* @return integer | float |
|
33
|
|
|
*/ |
|
34
|
|
|
abstract public function calculateEstimatedCost(Node $start, Node $end); |
|
35
|
|
|
|
|
36
|
|
|
/** |
|
37
|
|
|
* @return NodeList |
|
38
|
|
|
*/ |
|
39
|
17 |
|
public function getOpenList() |
|
40
|
|
|
{ |
|
41
|
17 |
|
return $this->openList; |
|
42
|
|
|
} |
|
43
|
|
|
|
|
44
|
|
|
/** |
|
45
|
|
|
* @return NodeList |
|
46
|
|
|
*/ |
|
47
|
17 |
|
public function getClosedList() |
|
48
|
|
|
{ |
|
49
|
17 |
|
return $this->closedList; |
|
50
|
|
|
} |
|
51
|
|
|
|
|
52
|
|
|
/** |
|
53
|
|
|
* Sets the algorithm to its initial state |
|
54
|
|
|
*/ |
|
55
|
16 |
|
public function clear() |
|
56
|
|
|
{ |
|
57
|
16 |
|
$this->getOpenList()->clear(); |
|
58
|
16 |
|
$this->getClosedList()->clear(); |
|
59
|
16 |
|
} |
|
60
|
|
|
|
|
61
|
|
|
/** |
|
62
|
|
|
* @param Node $start |
|
63
|
|
|
* @param Node $goal |
|
64
|
|
|
* @return Node[] |
|
65
|
|
|
*/ |
|
66
|
15 |
|
public function run(Node $start, Node $goal) |
|
67
|
|
|
{ |
|
68
|
15 |
|
$path = array(); |
|
69
|
|
|
|
|
70
|
15 |
|
$this->clear(); |
|
71
|
|
|
|
|
72
|
15 |
|
$start->setG(0); |
|
73
|
15 |
|
$start->setH($this->calculateEstimatedCost($start, $goal)); |
|
74
|
|
|
|
|
75
|
15 |
|
$this->getOpenList()->add($start); |
|
76
|
|
|
|
|
77
|
15 |
|
while (!$this->getOpenList()->isEmpty()) { |
|
78
|
15 |
|
$currentNode = $this->getOpenList()->extractBest(); |
|
79
|
|
|
|
|
80
|
15 |
|
$this->getClosedList()->add($currentNode); |
|
|
|
|
|
|
81
|
|
|
|
|
82
|
15 |
|
if ($currentNode->getID() === $goal->getID()) { |
|
83
|
13 |
|
$path = $this->generatePathFromStartNodeTo($currentNode); |
|
|
|
|
|
|
84
|
13 |
|
break; |
|
85
|
|
|
} |
|
86
|
|
|
|
|
87
|
12 |
|
$successors = $this->computeAdjacentNodes($currentNode, $goal); |
|
|
|
|
|
|
88
|
|
|
|
|
89
|
12 |
|
foreach ($successors as $successor) { |
|
90
|
10 |
|
if ($this->getOpenList()->contains($successor)) { |
|
91
|
7 |
|
$successorInOpenList = $this->getOpenList()->get($successor); |
|
92
|
|
|
|
|
93
|
7 |
|
if ($successor->getG() >= $successorInOpenList->getG()) { |
|
94
|
6 |
|
continue; |
|
95
|
|
|
} |
|
96
|
|
|
} |
|
97
|
|
|
|
|
98
|
10 |
|
if ($this->getClosedList()->contains($successor)) { |
|
99
|
7 |
|
$successorInClosedList = $this->getClosedList()->get($successor); |
|
100
|
|
|
|
|
101
|
7 |
|
if ($successor->getG() >= $successorInClosedList->getG()) { |
|
102
|
7 |
|
continue; |
|
103
|
|
|
} |
|
104
|
|
|
} |
|
105
|
|
|
|
|
106
|
10 |
|
$successor->setParent($currentNode); |
|
|
|
|
|
|
107
|
|
|
|
|
108
|
10 |
|
$this->getClosedList()->remove($successor); |
|
109
|
|
|
|
|
110
|
10 |
|
$this->getOpenList()->add($successor); |
|
111
|
|
|
} |
|
112
|
|
|
} |
|
113
|
|
|
|
|
114
|
15 |
|
return $path; |
|
115
|
|
|
} |
|
116
|
|
|
|
|
117
|
13 |
|
private function generatePathFromStartNodeTo(Node $node) |
|
118
|
|
|
{ |
|
119
|
13 |
|
$path = array(); |
|
120
|
|
|
|
|
121
|
13 |
|
$currentNode = $node; |
|
122
|
|
|
|
|
123
|
13 |
|
while ($currentNode !== null) { |
|
124
|
13 |
|
array_unshift($path, $currentNode); |
|
125
|
|
|
|
|
126
|
13 |
|
$currentNode = $currentNode->getParent(); |
|
127
|
|
|
} |
|
128
|
|
|
|
|
129
|
13 |
|
return $path; |
|
130
|
|
|
} |
|
131
|
|
|
|
|
132
|
12 |
|
private function computeAdjacentNodes(Node $node, Node $goal) |
|
133
|
|
|
{ |
|
134
|
12 |
|
$nodes = $this->generateAdjacentNodes($node); |
|
135
|
|
|
|
|
136
|
12 |
|
foreach ($nodes as $adjacentNode) { |
|
137
|
10 |
|
$adjacentNode->setG($node->getG() + $this->calculateRealCost($node, $adjacentNode)); |
|
138
|
10 |
|
$adjacentNode->setH($this->calculateEstimatedCost($adjacentNode, $goal)); |
|
139
|
|
|
} |
|
140
|
|
|
|
|
141
|
12 |
|
return $nodes; |
|
142
|
|
|
} |
|
143
|
|
|
} |
|
144
|
|
|
|
jmgq /
php-a-star
Loading history...