// Method to perform the path planning
protected override void DoPathPlanning()
{
// Sanity check: Don't do this when there is no mode or just 1 mode
if (ModeCount < 3)
{
System.Windows.Forms.MessageBox.Show("Can't use TopN algorithm because there are less than 3 modes!");
return;
}
// Do not exceed Max N set in project constants
int GCount = ModeCount;
if (GCount > ProjectConstants.Max_N)
{
GCount = ProjectConstants.Max_N;
}
// Loop through Gaussian Counts
int counter = 0;
for (int i = GCount; i > 1; i--)
{
for (int j = i; j > 1; j--)
{
// Clone things for each search
PathPlanningRequest curRequestCopy = curRequest.DeepClone();
RtwMatrix mDistCopy = mDist.Clone();
RtwMatrix mDiffCopy = mDiff.Clone();
// Set appropriate parameters (always do coarse to fine and parallel)
curRequestCopy.AlgToUse = AlgType.TopN;
curRequestCopy.BatchRun = false;
curRequestCopy.DrawPath = false;
curRequestCopy.RunTimes = 1;
curRequestCopy.UseCoarseToFineSearch = true;
curRequestCopy.UseHierarchy = true;
curRequestCopy.UseParallelProcessing = true;
curRequestCopy.TopN = j;
MapModes curModes = new MapModes(i, ModeCount, mModes, curRequestCopy, mDist, mDiff);
// Create path planning object
AlgTopN curAlg = new AlgTopN(curModes, curRequestCopy, ModeCount, mModes, mDistCopy, mDiffCopy, Efficiency_UB);
curAlg.index = counter;
lstThreads.Add(curAlg);
counter++;
}
}
// Allocate array space for results
arrResponses = new PathPlanningResponse[lstThreads.Count];
// Decide whether to do parallelization
if (curRequest.UseParallelProcessing)
{
ParallelSearch();
}
else
{
ExtensiveSearch();
FindBestPath();
}
}
// Algorithm specific implementation of the path planning
protected override void DoPathPlanning()
{
// Take care of business without hierarchical search
// Always use parallelization at this level no matter what
if (!curRequest.UseEndPoint)
{
// For the no end point path planning requests
// Always use CC
PathPlanningRequest newRequest = curRequest.DeepClone();
newRequest.AlgToUse = AlgType.CC;
AlgPathPlanning myAlg = new AlgCC(newRequest, mDist, mDiff, Efficiency_UB);
lstThreads.Add(myAlg);
// Also always use LHCGWCONV
newRequest = curRequest.DeepClone();
newRequest.AlgToUse = AlgType.LHCGWCONV;
RtwMatrix mDistCopy1 = mDist.Clone();
RtwMatrix mDiffCopy1 = mDiff.Clone();
myAlg = new AlgGlobalWarming(newRequest, ModeCount, mDistCopy1, mDiffCopy1, Efficiency_UB);
lstThreads.Add(myAlg);
// TopTwo works best when there are two modes (n>=2)
if (ModeCount == 2)
{
newRequest = curRequest.DeepClone();
newRequest.AlgToUse = AlgType.TopTwo;
RtwMatrix mDistCopy2 = mDist.Clone();
RtwMatrix mDiffCopy2 = mDiff.Clone();
myAlg = new AlgTopTwo(newRequest, ModeCount, mModes, mDistCopy2, mDiffCopy2, Efficiency_UB);
lstThreads.Add(myAlg);
}
// Use TopN if there are more than two modes
if (ModeCount >= 3)
{
newRequest = curRequest.DeepClone();
newRequest.AlgToUse = AlgType.TopN;
if (ModeCount <= ProjectConstants.Max_N)
{
newRequest.TopN = ModeCount;
}
// This is really hierarchical search
for (int i = 3; i < ProjectConstants.Max_N + 1; i++)
{
PathPlanningRequest newR = newRequest.DeepClone();
newR.TopN = i;
RtwMatrix mDistCopy2 = mDist.Clone();
RtwMatrix mDiffCopy2 = mDiff.Clone();
myAlg = new AlgTopN(newR, ModeCount, mModes, mDistCopy2, mDiffCopy2, Efficiency_UB);
lstThreads.Add(myAlg);
}
}
if (ProjectConstants.DebugMode)
{
curRequest.SetLog("Running a total of " + lstThreads.Count + " path planning tasks.\n");
}
SpawnThreads();
}
else
{
}
//if (HierarchicalSearch())
//{
// return;
//}
}