public static SinglePlan[] GetSinglePlans(WorldState goalState) // FIXME: Duplication with other methods.
{
LinkedList <Move>[] allroutes = new LinkedList <Move> [goalState.allAgentsState.Length];
for (int i = 0; i < allroutes.Length; i++)
{
allroutes[i] = new LinkedList <Move>();
}
WorldState currentNode = goalState;
while (currentNode != null)
{
for (int i = 0; i < allroutes.Length; i++)
{
allroutes[i].AddFirst(currentNode.GetSingleAgentMove(i));
}
currentNode = currentNode.prevStep;
}
SinglePlan[] ans = new SinglePlan[goalState.allAgentsState.Length];
for (int i = 0; i < ans.Length; i++)
{
ans[i] = new SinglePlan(allroutes[i], goalState.allAgentsState[i].agent.agentNum);
}
return(ans);
}
/// <summary>
/// Not used
/// </summary>
/// <param name="goalState"></param>
/// <param name="agentIndex"></param>
public SinglePlan(WorldState goalState, int agentIndex)
{
this.agentNum = goalState.allAgentsState[agentIndex].agent.agentNum;
WorldState currentNode = goalState;
LinkedList <Move> locations = new LinkedList <Move>();
while (currentNode != null)
{
locations.AddFirst(currentNode.GetSingleAgentMove(agentIndex));
currentNode = currentNode.prevStep;
}
this.locationAtTimes = locations.ToList <Move>();
}