private static bool IsSignificantChange(DS Change, AnytimeDStarState aS)
{
//return true;
return(aS.h(Change, aS.Sgoal) < aS.h(aS.Sstart, aS.Sgoal) &&
aS.h(Change, aS.Sstart) < aS.h(aS.Sstart, aS.Sgoal) &&
aS.h(Change, aS.Sstart) + aS.h(Change, aS.Sgoal) <
SignifcanceRatio *aS.h(aS.Sstart, aS.Sgoal));
}
private static SvenKey key(DS s, AnytimeDStarState aS)
{
if (g(s, aS) > rhs(s, aS))
{
return(new SvenKey( )
{
k1 = rhs(s, aS) + aS.epsilon * aS.h(aS.Sstart, s),
k2 = rhs(s, aS)
});
}
else
{
return(new SvenKey( )
{
k1 = g(s, aS) + aS.h(aS.Sstart, s),
k2 = g(s, aS)
});
}
}
public static Metric c(DS s1, DS s2, AnytimeDStarState aS)
{
if (s1.IsInvalid(aS.ss, false) || s2.IsInvalid(aS.ss, false))
{
return(Metric.Infinity);
}
else
{
return(aS.h(s1, s2));
}
}
public override IEnumerable <Path <SS, DS> > Compute(SS ss, DS ds, Goal <SS, DS> Goal, Operator <SS, DS>[] Ops)
{
this.init(ss, ds, Ops, Goal);
ExtendedDictionary <DS, Metric> H1 = new ExtendedDictionary <DS, Metric>(x => aS.h(x, aS.Sgoal));
ExtendedDictionary <DS, DS> tree = new ExtendedDictionary <DS, DS>(x => null);
Path <SS, DS> Incumbant = null;
int GlobalSearchLimit = GetGlobalSearchComputationLimit( );
this.aS.ComputationLimit = GlobalSearchLimit;
int LocalSearchLimit = GetLocalSearchComputationLimit( );
foreach (Path <SS, DS> p in AnytimeDStarLiteLookahead(aS, GlobalSearchLimit))
{
this.Expansions += aS.Expansions;
this.Generations += aS.Generations;
aS.Expansions = 0;
aS.Generations = 0;
if (p == null)
{
switch (sm)
{
/*case ChooseMethodStep.LRTAStar:
* yield return LRTAStar<SS, DS>.AStarLookAhead( ss.InitialDynamicState, ss,
* LocalSearchLimit, aS.sv,
* ref this.Expansions, ref this.Generations, false,
* Ops, H1, H, Goal, Metric.One, false );
* break;
* case ChooseMethodStep.RTAStar:
* yield return LRTAStar<SS, DS>.AStarLookAhead( ss.InitialDynamicState, ss,
* LocalSearchLimit, aS.sv,
* ref this.Expansions, ref this.Generations, false,
* Ops, H1, H, Goal, Metric.One, true );
* break;*/
case ChooseMethodStep.LSSLRTAStar:
yield return(LSSLRTAStar <SS, DS> .LSSLRTAStarLookahead(LocalSearchLimit, ss, aS.Sstart,
aS.Sgoal, Ops, aS.h, ref Incumbant, ref this.Expansions, aS.sv, tree, H1));
break;
}
}
else
{
yield return(p);
}
aS.Sstart = aS.ss.InitialDynamicState;
}
yield break;
}