private void CalculateSetUtility(TaskSet set)
{
int cost = 0;
List <Task> tasks = set.GetSet();
for (int i = 0; i < tasks.Count - 1; i++)
{
cost += tasks[i].GetPath().Count;
for (int j = i + 1; j < tasks.Count; j++)
{
if (ExistsCollision(tasks[i].GetPath(), tasks[j].GetPath()))
{
cost += this.colisionPenalty;
}
if (tasks[i].GetAction().GetActionType().Equals(tasks[j].GetAction().GetActionType()))
{
cost += this.concurrencyPenalty;
}
}
}
set.SetCost(cost);
}