/// <summary>
/// constructor
/// </summary>
/// <param name="instance">instance</param>
public CBSPathManager(Instance instance)
: base(instance)
{
//Need a Request on Fail
BotNormal.RequestReoptimizationAfterFailingOfNextWaypointReservation = true;
//translate to lightweight graph
var graph = GenerateGraph();
var config = instance.ControllerConfig.PathPlanningConfig as CBSPathPlanningConfiguration;
PathFinder = new CBSMethod(graph, instance.SettingConfig.Seed, new PathPlanningCommunicator(
instance.LogSevere,
instance.LogDefault,
instance.LogInfo,
instance.LogVerbose,
() => { instance.StatOverallPathPlanningTimeouts++; }));
var method = PathFinder as CBSMethod;
method.LengthOfAWaitStep = config.LengthOfAWaitStep;
method.RuntimeLimitPerAgent = config.RuntimeLimitPerAgent;
method.RunTimeLimitOverall = config.RunTimeLimitOverall;
method.SearchMethod = config.SearchMethod;
if (config.AutoSetParameter)
{
//best parameter determined my master thesis
method.SearchMethod = CBSMethod.CBSSearchMethod.BestFirst;
method.RuntimeLimitPerAgent = config.Clocking / instance.Bots.Count;
method.RunTimeLimitOverall = config.Clocking;
}
}
public void CBS()
{
var method = new CBSMethod(GetGraph(), 0, PathPlanningCommunicator.DUMMY_COMMUNICATOR);
method.LengthOfAWaitStep = 1;
var agents = Test(method);
output(agents);
}
