private int calculateCost(List <List <TimedMove> > plan, CFMAStar.CostFunction costFunction)
{
if (costFunction == CFMAStar.CostFunction.SOC)
{
return(sumSolutionCost(this.plan));
}
plan.Sort((x, y) => y.Count - x.Count);
return(plan[0].Count - 1);
}
public void reduce(CFMAStar.CostFunction costFunction)
{
timer = Stopwatch.StartNew();
if (CreateNFProblem(costFunction))
{
ImportToMCMFAlgorithm();
}
timer.Stop();
}
/// <summary>
/// Creates an initial network flow problem reduced from the given problem
/// </summary>
private bool CreateNFProblem(CFMAStar.CostFunction costFunction)
{
this.superSink = new NFReducerNode(-1, -1, -1);
NFNodes.Add(this.superSink);
ReducerOpenList <NFReducerNode> openList = new ReducerOpenList <NFReducerNode>();
openList.Enqueue(new NFReducerNode(0, goalState.x, goalState.y));
while (openList.Count != 0)
{
//if (timer.ElapsedMilliseconds > Constants.MCMF_MAX_TIME)
// return false;
NFReducerNode node = openList.Dequeue();
LinkedList <NFReducerNode> nodeSons = new LinkedList <NFReducerNode>();
if (l == -1 || (l != -1 && node.nodeTime != T))
{
nodeSons = GetSons(node, openList);
}
foreach (NFReducerNode son in nodeSons)
{
son.AddEdgeTo(node);
node.AddEdgeFrom(son);
if (!openList.Contains(son))
{
openList.Enqueue(son);
}
if (l == -1 && IsStartPosition(son) && this.startPositionsDict[new KeyValuePair <int, int>(son.x, son.y)] == 1)
{
this.startPositionsDict[new KeyValuePair <int, int>(son.x, son.y)] = 0;
startPositionsToDiscover--;
}
if (l == -1 && startPositionsToDiscover == 0)
{
l = son.nodeTime;
if (costFunction == CFMAStar.CostFunction.SOC)
{
T = l + startPositions.Length - 1;
}
else
{
T = l;
}
}
}
if (!NFNodes.Contains(node))
{
AddAfterDuplicationAndSinkConnection(node);
}
}
return(true);
}
public long solve(CFMAStar.CostFunction costFunction)
{
// Independence Detection
List <List <TimedMove> > nonConflictsPaths = null;
IndependentDetection id = new IndependentDetection(this.problemInstance, this.goalState);
MAM_AgentState[] newStartPositions = id.Detect(out nonConflictsPaths);
if (newStartPositions.Length != 0)
{
this.problemInstance = problemInstance.ReplanProblem(newStartPositions);
this.reducer = new CFMAM_MCMF_Reducer(this.problemInstance, this.goalState);
reducer.reduce(costFunction);
if (reducer.outputProblem == null)
{
return(-1);
}
MinCostMaxFlow mcmfSolver = new MinCostMaxFlow(reducer.outputProblem);
timer = Stopwatch.StartNew();
solution = mcmfSolver.SolveMinCostFlow();
List <TimedMove>[] partialPlan = this.reducer.GetCFMAMSolution(this.solution, this.mcmfTime, true);
if (costFunction == CFMAStar.CostFunction.MakeSpan)
{
while (!isPathForEachAgent(partialPlan))
{
this.reducer.addNetworkLayer();
mcmfSolver = new MinCostMaxFlow(reducer.outputProblem);
solution = mcmfSolver.SolveMinCostFlow();
partialPlan = this.reducer.GetCFMAMSolution(this.solution, this.mcmfTime, true);
}
}
timer.Stop();
this.plan = mergePlans(partialPlan, nonConflictsPaths);
this.mcmfTime = timer.ElapsedMilliseconds;
this.solutionCost = calculateCost(this.plan, costFunction);
}
else
{
this.plan = nonConflictsPaths;
this.solutionCost = calculateCost(this.plan, costFunction);
}
return(this.solutionCost);
}
