public SinglePlan[] Solve()
{
A_Star_MDDs_Node currentNode;
//A_Star_MDDs_Expander expander = new A_Star_MDDs_Expander();
while (openList.Count > 0)
{
if (runner.ElapsedMilliseconds() > Constants.MAX_TIME)
{
return(null);
}
currentNode = openList.Remove();
// Check if node is the goal
if (this.GoalTest(currentNode))
{
this.conflictCount = currentNode.conflictCount;
this.conflictCounts = currentNode.conflictCounts;
this.conflictTimes = currentNode.conflictTimes;
return(GetAnswer(currentNode));
}
// Expand
expanded++; // TODO: don't count re-expansions as expansions?
Expand(currentNode);
//expander.Setup(currentNode);
//Expand(expander); // TODO: the expander just generates all children. EPEA* its ass!!
}
return(null);
}
private bool singleAgentAStar(AgentState agent)
{
AgentState.EquivalenceOverDifferentTimes = false;
BinaryHeap <AgentState> openList = new BinaryHeap <AgentState>(); // TODO: Safe to use OpenList here instead?
HashSet <AgentState> closedList = new HashSet <AgentState>();
agent.h = this.problem.GetSingleAgentOptimalCost(agent);
openList.Add(agent);
AgentState node;
this.initialEstimate += agent.h;
TimedMove queryTimedMove = new TimedMove();
while (openList.Count > 0)
{
if (this.runner.ElapsedMilliseconds() > Constants.MAX_TIME)
{
return(false);
}
node = openList.Remove();
if (node.h == 0)
{
bool valid = true;
for (int i = node.lastMove.time; i <= maxPathCostSoFar; i++)
{
queryTimedMove.setup(node.lastMove.x, node.lastMove.y, Move.Direction.NO_DIRECTION, i);
if (reservationTable.Contains(queryTimedMove))
{
valid = false;
}
}
if (valid)
{
this.paths[agent.agent.agentNum] = new SinglePlan(node);
reservePath(node);
totalcost += node.lastMove.time;
parked.Add(new Move(node.lastMove.x, node.lastMove.y, Move.Direction.NO_DIRECTION), node.lastMove.time);
return(true);
}
}
expandNode(node, openList, closedList);
expanded++;
}
return(false);
}