public bool Push(int node, float cost)
{
int i = heapback[node];
if (i != -1)
{
if (cost < costs[i])
{
costs[i] = cost;
heapify_up(i);
return true;
}
return false;
}
else
{
heap.Push(node);
costs.Push(cost);
heapback[node] = heap.Length() - 1;
heapify_up(heap.Length() - 1);
return true;
}
}
int n; // the number of nodes; also the virtual accept index
#endregion Fields
#region Constructors
public AStarSearch(IGenericFst fst)
{
this.fst = fst;
this.accepted_from = -1;
this.heap = new Heap(fst.nStates() + 1);
this.n = fst.nStates();
this.came_from = new Intarray(n);
this.came_from.Fill(-1);
this.g = new Floatarray(n);
// insert the start node
int s = fst.GetStart();
g[s] = 0;
came_from[s] = s;
heap.Push(s, Convert.ToSingle(Heuristic(s)));
}