def adjacent_nodes(self, states, projections: ProjectionManager, graph: facility.SpatialGraph, geometry: LinkManager):
for offset in projections.search_edge(self.anchor.idx + 1, self.edge, 0):
yield LinkedNode.Key(self.edge, offset, self.anchor.idx + 1)
distance = self.distance + self.link.length
for next_edge in graph.adjacent(self.edge[1]):
u, v, k = next_edge
if (v, u, k) != self.edge:
yield ForwardingNode.Key(self.anchor, distance, next_edge, self.projected_state)
def adjacent_nodes(self, graph: facility.SpatialGraph, goal: BoundNode):
if goal.on(self.edge):
yield goal
return
for next_edge in graph.adjacent(self.edge[1]):
if goal.on(next_edge):
yield Node(next_edge, 0.0, goal.edges[next_edge][0])
else:
yield Node(next_edge, 0.0, graph.edge_geometry(next_edge).length)
def adjacent_nodes(self, states, projections: ProjectionManager, graph: facility.SpatialGraph, geometry: LinkManager):
if self.idx + 1 == len(states):
yield FinalNode()
return
for offset in projections.search_edge(self.idx + 1, self.edge, self.offset):
yield LinkedNode.Key(self.edge, offset, self.idx + 1)
yield JumpingNode.Key(self)
distance = self.link.length - self.segment.distance
for next_edge in graph.adjacent(self.edge[1]):
u, v, k = next_edge
if (v, u) != self.edge:
yield ForwardingNode.Key(self, distance, next_edge, self.next_projected_state)