@SuppressWarnings("unchecked")
private P run(AStarStorage storage, AStarGoal<N> goal, N start, int maxIterations) {
Preconditions.checkNotNull(goal);
Preconditions.checkNotNull(start);
Preconditions.checkNotNull(storage);
N node;
int iterations = 0;
while (true) {
node = (N) storage.removeBestNode();
if (node == null) {
return null;
}
if (goal.isFinished(node)) {
return (P) node.buildPlan();
}
storage.close(node);
for (AStarNode neighbour : node.getNeighbours()) {
f(goal, node, (N) neighbour);
if (!storage.shouldExamine(neighbour)) continue;
storage.open(neighbour);
neighbour.parent = node;
}
if (maxIterations >= 0 && iterations++ >= maxIterations) {
return null;
}
}
}
private AStarStorage getInitialisedStorage(AStarGoal<N> goal, N start) {
AStarStorage storage = storageSupplier.get();
storage.open(start);
start.f = goal.getInitialCost(start);
return storage;
}
@SuppressWarnings("unchecked")
public N getBestNode() {
return (N) storage.getBestNode();
}
