/// <summary>
/// Solve the group of agents together.
/// </summary>
/// <param name="runner"></param>
/// <param name="CAT"></param>
/// <param name="group1Cost"></param>
/// <param name="group2Cost"></param>
/// <param name="group1Size"></param>
/// <param name="reserved"></param>
/// <returns>true if optimal solution for the group of agents were found, false otherwise</returns>
public bool Solve(Run runner, ConflictAvoidanceTable CAT,
int group1Cost = 0, int group2Cost = 0, int group1Size = 1
)
{
IIndependenceDetectionSolver relevantSolver = this.groupSolver;
if (this.allAgentsState.Length == 1)
{
relevantSolver = this.singleAgentSolver; // TODO: Consider using CBS's root trick to really get single agent paths fast. Though it won't respect illegal moves or avoid conflicts.
}
relevantSolver.Setup(this.instance, runner, CAT, group1Cost, group2Cost, group1Size);
bool solved = relevantSolver.Solve();
this.solutionCost = relevantSolver.GetSolutionCost();
if (solved == false)
{
return(false);
}
// Store the plan found by the solver
this.plan = relevantSolver.GetPlan();
this.singleCosts = relevantSolver.GetSingleCosts();
this.expanded = relevantSolver.GetExpanded();
this.generated = relevantSolver.GetGenerated();
this.solutionDepth = relevantSolver.GetSolutionDepth();
this.conflictCounts = relevantSolver.GetExternalConflictCounts();
this.conflictTimes = relevantSolver.GetConflictTimes();
// Clear memory
relevantSolver.Clear();
return(true);
}
/// <summary>
/// Tries to find a plan for this group, that will not conflict with the given plan,
/// and still has the same solution cost as the current solution cost.
/// This is used in the ImprovedID() method.
/// </summary>
/// <param name="planToAvoid"></param>
/// <param name="runner"></param>
/// <returns></returns>
public bool ReplanUnderConstraints(Plan planToAvoid, Run runner, ConflictAvoidanceTable CAT)
{
int oldCost = this.solutionCost;
Plan oldPlan = this.plan;
HashSet <TimedMove> reserved = new HashSet <TimedMove>();
planToAvoid.AddPlanToHashSet(reserved, Math.Max(planToAvoid.GetSize(), this.plan.GetSize()));
IIndependenceDetectionSolver relevantSolver = this.groupSolver;
if (this.allAgentsState.Length == 1)
{
relevantSolver = this.singleAgentSolver;
}
relevantSolver.Setup(this.instance, runner, CAT, oldCost, reserved);
bool solved = relevantSolver.Solve();
this.solutionCost = relevantSolver.GetSolutionCost();
conflictCounts = relevantSolver.GetExternalConflictCounts();
conflictTimes = relevantSolver.GetConflictTimes();
// Store the plan found by the solver
this.plan = relevantSolver.GetPlan();
this.singleCosts = relevantSolver.GetSingleCosts();
this.expanded = relevantSolver.GetExpanded();
this.generated = relevantSolver.GetGenerated();
this.solutionDepth = relevantSolver.GetSolutionDepth();
this.conflictCounts = relevantSolver.GetExternalConflictCounts();
this.conflictTimes = relevantSolver.GetConflictTimes();
// Clear memory
relevantSolver.Clear();
if (solved == false)
{
this.solutionCost = oldCost;
this.plan = oldPlan;
}
return(solved);
}