Doloro.Graphs.AStarPath Class Reference

Detailed Description

Implementation of the A* pathfinding algorithm.

Python script:

frontier = PriorityQueue()
frontier.put(start, 0)
came_from = {}
cost_so_far = {}
came_from[start] = None
cost_so_far[start] = 0
 
while not frontier.empty():
   current = frontier.get()
 
   if current == goal:
      break
 
   for next in graph.neighbors(current):
      new_cost = cost_so_far[current] + graph.cost(current, next)
      if next not in cost_so_far or new_cost < cost_so_far[next]:
         cost_so_far[next] = new_cost
         priority = new_cost + heuristic(goal, next)
         frontier.put(next, priority)
         came_from[next] = current

Inheritance diagram for Doloro.Graphs.AStarPath:

Collaboration diagram for Doloro.Graphs.AStarPath:

Public Types
enum	State {   NotComputed , Built , Failed , Relayed ,   InProgress }

Public Member Functions
	AStarPath (GraphNode from, GraphNode to)
override ICollection< GraphNode >	Build ()
	Builds path using A* algorithm between declared points. More...
override IEnumerator	BuildCoroutine ()
	Builds the path using A* algorithm in Coroutine friendly way. More...
override async Task< ICollection< GraphNode > >	BuildAsync ()
	Builds the path using A* algorithm asynchronously. More...
Connection	GetConection (GraphNode achivedNode)
	Looking for connection that leaded the path to the certain node. More...
bool	TryLoadCache ()
	Loads path cache to the instance in case if exists. More...
void	Release ()
	Releasing cached path between two nodes in case if has been built.
void	MakeFailed ()
	Forces path to has State.Failed state.
IEnumerator< GraphNode >	GetEnumerator ()
	Enumerated computed path. More...

Static Public Member Functions
static void	ReleaseCache ()
	Releases entire cache.
static bool	TryGetCachedPath (GraphNode from, GraphNode to, out Path path)
	Looking for last cached path between two nodes. More...
static bool	TryGetCachedPath (Type pathType, GraphNode from, GraphNode to, out Path path)
	Looking for cached path between two nodes. More...
static bool	TryGetCachedPath< T > (GraphNode from, GraphNode to, out T path)
	Looking for cached path between two nodes. More...

Static Protected Member Functions
static void	SetPathToCache (Path path)
	Updating cache registry with a path entry. More...

Properties
static int	CachedPathsCount [get]
	Count of paths in cache.
ReadOnlyCollection< GraphNode >	path [get, protected set]
	Public built path.
int	Length [get]
	Length of the built path. -1 is not built yet.
GraphNode	from [get]
	Path start graph's node.
GraphNode	to [get]
	Path finish graph's node.
State	state [get, protected set]
	Current state of the path build.
bool	isComputed [get]
	Is the path has been computed.
bool	isCached [get]
	Checks is the path located at the cache registry to fast access. More...

Events
static Action< Path >	PathReleased
	Occurs when any path is no longer exists in cache.

Member Enumeration Documentation

State

enum Doloro.Graphs.Path.State

inherited

Enumerator
NotComputed	Path has no been computed yet.
Built	Pathfinding has been finished with a success.
Failed	Pathfinding has been failed.
Relayed	Path build has been skipped due to exist of cached path.
InProgress	Pathfinding in the process.

Member Function Documentation

Build()

override ICollection< GraphNode > Doloro.Graphs.AStarPath.Build ( )

virtual

Builds path using A* algorithm between declared points.

Returns

Collection of nodes selected as path.

Reimplemented from Doloro.Graphs.Path.

BuildAsync()

override async Task< ICollection< GraphNode > > Doloro.Graphs.AStarPath.BuildAsync ( )

virtual

Builds the path using A* algorithm asynchronously.

Returns

Task that returns collection of nodes selected as path.

Reimplemented from Doloro.Graphs.Path.

BuildCoroutine()

override IEnumerator Doloro.Graphs.AStarPath.BuildCoroutine ( )

virtual

Builds the path using A* algorithm in Coroutine friendly way.

Returns

Enumerator can be used in unity coroutines.

Reimplemented from Doloro.Graphs.Path.

GetConection()

Connection Doloro.Graphs.AStarPath.GetConection

(

GraphNode

achivedNode

)

Looking for connection that leaded the path to the certain node.

Parameters

achivedNode

Node that has been achieved by the path.

Returns

Connection instance.

GetEnumerator()

IEnumerator< GraphNode > Doloro.Graphs.Path.GetEnumerator ( )

inherited

Enumerated computed path.

Returns

Enumerator of the path included nodes. Empty collection in case if state is not State.Built or State.Relayed.

SetPathToCache()

static void Doloro.Graphs.Path.SetPathToCache ( Path  path )

staticprotectedinherited

Updating cache registry with a path entry.

Parameters

path	Path to set.

Decline caching of garbage paths with the 1 length.

TryGetCachedPath() [1/2]

static bool Doloro.Graphs.Path.TryGetCachedPath ( GraphNode  from, GraphNode  to, out Path  path  )

staticinherited

Looking for last cached path between two nodes.

Parameters

from	Start point.
to	End point
path	Path instance if found.

Returns

Is the instance has been found.

TryGetCachedPath() [2/2]

static bool Doloro.Graphs.Path.TryGetCachedPath ( Type  pathType, GraphNode  from, GraphNode  to, out Path  path  )

staticinherited

Looking for cached path between two nodes.

Parameters

pathType	Type of the path processor.
from	Start point.
to	End point
path	Path instance if found.

Returns

Is the instance has been found.

TryGetCachedPath< T >()

static bool Doloro.Graphs.Path.TryGetCachedPath< T > ( GraphNode  from, GraphNode  to, out T  path  )

staticinherited

Looking for cached path between two nodes.

Template Parameters

T	Type of the path processor.

Parameters

from	Start point.
to	End point
path	Path instance if found.

Returns

Is the instance has been found.

Type Constraints

T

:

Path

TryLoadCache()

bool Doloro.Graphs.Path.TryLoadCache ( )

inherited

Loads path cache to the instance in case if exists.

Returns

Is the cache has been loaded.

Property Documentation

isCached

bool Doloro.Graphs.Path.isCached

getinherited

Checks is the path located at the cache registry to fast access.

See also

Release

---

The documentation for this class was generated from the following file:

• D:/Work/GitHub/DGDK22/Assets/Tauri Interactive/Doloro-GDK/Doloro-Graphs/Runtime/Paths/AStarPath.cs