/// <summary>
/// The returned plan wasn't constructed considering a CAT, so it's possible there's an alternative plan with the same cost and less collisions.
/// </summary>
/// <param name="agentState"></param>
/// <returns></returns>
public SinglePlan GetSingleAgentOptimalPlan(AgentState agentState,
out Dictionary <int, int> conflictCountPerAgent, out Dictionary <int, List <int> > conflictTimesPerAgent, out Dictionary <int, List <int> > conflictTimesBiasPerAgent, int conflictRange = 0)
{
LinkedList <Move> moves = new LinkedList <Move>();
int agentNum = agentState.agent.agentNum;
var conflictCounts = new Dictionary <int, int>();
var conflictTimes = new Dictionary <int, List <int> >();
var conflictTimesBias = new Dictionary <int, List <int> >();
var conflictProbability = new Dictionary <int, List <double> >();
IReadOnlyDictionary <TimedMove, List <int> > CAT;
if (this.parameters.ContainsKey(CBS_LocalConflicts.CAT)) // TODO: Add support for IndependenceDetection's CAT
{
CAT = ((IReadOnlyDictionary <TimedMove, List <int> >) this.parameters[CBS_LocalConflicts.CAT]);
}
else
{
CAT = new Dictionary <TimedMove, List <int> >();
}
//for(int tempTime = 0 ; tempTime < agentState.)
TimedMove current = agentState.lastMove; // The starting position
int time = current.time;
int timeWithoutDelays = 0;
while (true)
{
moves.AddLast(current);
if (current.direction != Move.Direction.NO_DIRECTION &&
current.direction != Move.Direction.Wait)
{
timeWithoutDelays++;
}
// Count conflicts:
current.UpdateConflictCounts(CAT, conflictCounts, conflictTimes, conflictTimesBias, conflictRange);
if (agentState.agent.Goal.Equals(current))
{
break;
}
// Get next optimal move
time++;
Move optimal = this.singleAgentOptimalMoves[agentNum][this.GetCardinality(current)];
current = new TimedMove(optimal, time);
}
conflictCountPerAgent = conflictCounts;
conflictTimesPerAgent = conflictTimes;
conflictTimesBiasPerAgent = conflictTimesBias;
return(new SinglePlan(moves, agentNum));
}
/// <summary>
/// The returned plan wasn't constructed considering a CAT, so it's possible there's an alternative plan with the same cost and less collisions.
/// </summary>
/// <param name="agentState"></param>
/// <returns></returns>
public SinglePlan GetSingleAgentOptimalPlan(AgentState agentState,
out Dictionary <int, int> conflictCountPerAgent, out Dictionary <int, List <int> > conflictTimesPerAgent)
{
LinkedList <Move> moves = new LinkedList <Move>();
int agentNum = agentState.agent.agentNum;
var conflictCounts = new Dictionary <int, int>();
var conflictTimes = new Dictionary <int, List <int> >();
IReadOnlyDictionary <TimedMove, List <int> > CAT;
if (this.parameters.ContainsKey(CBS.CAT)) // TODO: Add support for IndependenceDetection's CAT
{
CAT = ((IReadOnlyDictionary <TimedMove, List <int> >) this.parameters[CBS.CAT]);
}
else
{
CAT = new Dictionary <TimedMove, List <int> >();
}
TimedMove current = agentState.lastMove; // The starting position
int time = current.time;
while (true)
{
moves.AddLast(current);
// Count conflicts:
current.UpdateConflictCounts(CAT, conflictCounts, conflictTimes);
if (agentState.agent.Goal.Equals(current))
{
break;
}
// Get next optimal move
time++;
Move optimal = this.singleAgentOptimalMoves[agentNum][this.GetCardinality(current)];
current = new TimedMove(optimal, time);
}
conflictCountPerAgent = conflictCounts;
conflictTimesPerAgent = conflictTimes;
return(new SinglePlan(moves, agentNum));
}