fn update_state<PS: planner::ProblemSpace>(
    ps: &PS,
    s: PS::State,
    start: PS::State,
    goal: PS::State,
    data: &mut collections::HashMap<PS::State, util::StateData>,
    open: &mut collections::BinaryHeap<util::HeapEntry<PS::State>>,
    closed: &mut Vec<PS::State>,
    incons: &mut Vec<PS::State>,
    eps: f64,
) {
    data.entry(s).or_insert(util::StateData {
        rhs: f64::INFINITY,
        g: f64::INFINITY,
    });
    if s != goal {
        let mut tmp = f64::INFINITY;
        for item in ps.succ(&s) {
            if data.contains_key(&item.0) && item.1 + data[&item.0].g < tmp {
                tmp = item.1 + data[&item.0].g;
            }
        }
        data.get_mut(&s).unwrap().rhs = tmp;
    }
    open.retain(|e| e.state != s);
    if data[&s].g as i64 != data[&s].rhs as i64 {
        if !closed.contains(&s) {
            open.push(util::HeapEntry::new_entry(
                s,
                key(&data[&s], ps.heuristic(&s, &start), eps),
            ));
        } else {
            incons.push(s);
        }
    }
}
/// Update the state's information.
Update the state's information.
Update the state ' s information .
fn update_state<PS: planner::ProblemSpace>(
    ps: &PS,
    s: PS::State,
    start: PS::State,
    goal: PS::State,
    data: &mut collections::HashMap<PS::State, util::StateData>,
    open: &mut collections::BinaryHeap<util::HeapEntry<PS::State>>,
    closed: &mut Vec<PS::State>,
    incons: &mut Vec<PS::State>,
    eps: f64,
) {
    data.entry(s).or_insert(util::StateData {
        rhs: f64::INFINITY,
        g: f64::INFINITY,
    });
    if s != goal {
        let mut tmp = f64::INFINITY;
        for item in ps.succ(&s) {
            if data.contains_key(&item.0) && item.1 + data[&item.0].g < tmp {
                tmp = item.1 + data[&item.0].g;
            }
        }
        data.get_mut(&s).unwrap().rhs = tmp;
    }
    open.retain(|e| e.state != s);
    if data[&s].g as i64 != data[&s].rhs as i64 {
        if !closed.contains(&s) {
            open.push(util::HeapEntry::new_entry(
                s,
                key(&data[&s], ps.heuristic(&s, &start), eps),
            ));
        } else {
            incons.push(s);
        }
    }
}
fn update_state < PS : planner :: ProblemSpace > ( ps : & PS , s : PS :: State , start : PS :: State , goal : PS :: State , data : & mut collections :: HashMap < PS :: State , util :: StateData > , open : & mut collections :: BinaryHeap < util :: HeapEntry < PS :: State > > , closed : & mut Vec < PS :: State > , incons : & mut Vec < PS :: State > , eps : f64 , ) { data . entry ( s ) . or_insert ( util :: StateData { rhs : f64 :: INFINITY , g : f64 :: INFINITY , } ) ; if s != goal { let mut tmp = f64 :: INFINITY ; for item in ps . succ ( & s ) { if data . contains_key ( & item . 0 ) && item . 1 + data [ & item . 0 ] . g < tmp { tmp = item . 1 + data [ & item . 0 ] . g ; } } data . get_mut ( & s ) . unwrap ( ) . rhs = tmp ; } open . retain ( | e | e . state != s ) ; if data [ & s ] . g as i64 != data [ & s ] . rhs as i64 { if ! closed . contains ( & s ) { open . push ( util :: HeapEntry :: new_entry ( s , key ( & data [ & s ] , ps . heuristic ( & s , & start ) , eps ) , ) ) ; } else { incons . push ( s ) ; } } }
Update the state's information.
Update the state ' s information .
ps
&PS
s
PS::State
start
PS::State
goal
PS::State
data
&mut collections::HashMap<PS::State, util::StateData>
open
&mut collections::BinaryHeap<util::HeapEntry<PS::State>>
closed
&mut Vec<PS::State>
incons
&mut Vec<PS::State>
eps
f64
ps
&PS
s
PS::State
start
PS::State
goal
PS::State
data
&mut collections::HashMap<PS::State, util::StateData>
open
&mut collections::BinaryHeap<util::HeapEntry<PS::State>>
closed
&mut Vec<PS::State>
incons
&mut Vec<PS::State>
eps
f64