HPASharp.HierarchicalMap.GetNeighbours C# (CSharp) Method

		public IEnumerable<Neighbour> GetNeighbours(int nodeId)
		{
			var node = AbstractGraph.GetNode(nodeId);
			var edges = node.Edges;
			var result = new List<Neighbour>(edges.Count);
			foreach (var edge in edges)
			{
				var edgeInfo = edge.Info;
				if (edgeInfo.IsInterEdge)
				{
					// If the node is an interCluster edge and the edge is of a lower level than
					// the current level, we have to ignore it
					// This means we can use higher level interEdges.
					if (edgeInfo.Level < this.currentLevel) continue;
				}
				else
				{
					// If it is NOT an interCluster edge (local edge for example) but that edge belongs to another level... ignore it
					if (edgeInfo.Level != this.currentLevel) continue;
				}

				var targetNodeId = edge.TargetNodeId;
				var targetNodeInfo = AbstractGraph.GetNodeInfo(targetNodeId);

				// NOTE: Sure this if happens? Previous validations should ensure that the edge is connected to
				// a node of the same level. Also... why are we checking if the target node is in the current Cluster?
				// We should be able to navigate to that edge!
				if (targetNodeInfo.Level < this.currentLevel || !this.PositionInCurrentCluster(targetNodeInfo.Position))
					continue;

				result.Add(new Neighbour(targetNodeId, edgeInfo.Cost));
			}

			return result;
		}