public void AddGoalCompletionTime(int iteration, Constant agent, Predicate key, int value, out Constant backtrackToAgent)
{
GoalCompletionAtIteration goalCompletion = new GoalCompletionAtIteration();
goalCompletion.Iteration = iteration;
goalCompletion.Agent = agent;
goalCompletion.Goal = key;
goalCompletion.MinTime = value;
//
backtrackToAgent = null;
// If this goal overrides an existing completion by another agent, return to this agent at the next iteration..
var overridenCompletion = GoalsCompletionTime.FindLast(x => x.Goal == key && !x.Invalid);
if (overridenCompletion != null)
{
if (value < overridenCompletion.MinTime)
{
// in this case, the agent improved the previous time.
Constant slowerAgent = overridenCompletion.Agent;
// Slower agent got beaten by the current agent, let the slower agent to replan again.
// This time, hopefully he would let this goal go next time he replans..
backtrackToAgent = slowerAgent;
GoalsCompletionTime.Add(goalCompletion);
}
}
else
{
GoalsCompletionTime.Add(goalCompletion);
}
}
public List <KeyValuePair <Predicate, int> > GetPrevGoalsCompletionTime(Constant agent, Problem problem)
{
List <KeyValuePair <Predicate, int> > alreadyCompleted = new List <KeyValuePair <Predicate, int> >();
List <Predicate> goals = problem.GetGoals();
foreach (var goal in goals)
{
GoalCompletionAtIteration history = GoalsCompletionTime.FindLast(x => x.Goal == goal && x.Agent != agent && !x.Invalid);
if (history != null)
{
alreadyCompleted.Add(new KeyValuePair <Predicate, int>(history.Goal, history.MinTime));
}
}
return(alreadyCompleted);
}
