// Constructor, for the first node, have parent = null;
public Node_2(int p1X, int p1Y, int p2X, int p2Y, Node_2 expanded, int action) {
x1 = p1X;
y1 = p1Y;
x2 = p2X;
y2 = p2Y;
p1HasReached = false;
p2HasReached = false;
parent = expanded;
if (x1 == 148 && y1 == 150 && x2 == 155 && y2 == 149) {
x1 += 0;
}
updateSelfDegree();
if (parent == null) {
depth = 0;
actionPath = new ArrayList<Integer>();
value = -1;
} else {
depth = parent.getDepth() + 1;
actionPath = ((ArrayList<Integer>) parent.getActionPath().clone());
actionPath.add(action);
// Set the value of this node equal to our heuristic rating for it
value = this.heuristic_2();
}
if (parent != null && parent.x1 == p1ExitX && parent.y1 == p1ExitY && parent.selfDegree == 0) {
x1 += 0;
}
if (x1 == p1ExitX && y1 == p1ExitY && selfDegree == 0) {
x1 += 0;
}
}
public static void reRunHeuristic(ArrayList<Node_2> set) {
System.out.println("Degree is now: " + degree);
ArrayList<Node_2> newSet = new ArrayList<Node_2>();
for (Node_2 n : set) {
// if(n.getValue() > 9999){
n.value = n.heuristic();
n.updateSelfDegree();
newSet.add(n);
// } else if (n.getValue() <= degree){
// newSet.add(n);
// }
}
set = newSet;
System.out.println();
}
