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AStar distance fix.

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Lev Dragunov 2016-03-09 20:02:26 +03:00 • committed by Sergey Yershov
parent 3db53aea74
commit 5c2a8647cf
1 changed files with 5 additions and 0 deletions
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5
routing/base/astar_algorithm.hpp
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@ -222,6 +222,7 @@ typename AStarAlgorithm<TGraph>::Result AStarAlgorithm<TGraph>::FindPath(
{
ReconstructPath(stateV.vertex, parent, result.path);
result.distance = stateV.distance;
ASSERT_EQUAL(graph.HeuristicCostEstimate(stateV.vertex, finalVertex), 0, ());
return Result::OK;
}
@ -321,6 +322,10 @@ typename AStarAlgorithm<TGraph>::Result AStarAlgorithm<TGraph>::FindPathBidirect
ReconstructPathBidirectional(cur->bestVertex, nxt->bestVertex, cur->parent, nxt->parent,
result.path);
result.distance = bestPathReducedLength;
if (curTop > 0)
result.distance -= cur->ConsistentHeuristic(nxt->bestVertex);
if (nxtTop > 0)
result.distance -= nxt->ConsistentHeuristic(nxt->bestVertex);
CHECK(!result.path.empty(), ());
if (!cur->forward)
reverse(result.path.begin(), result.path.end());