/// <summary>
/// Prunes the individual agent MDDs and prepares data for matching them
/// </summary>
/// <returns>Whether everything was pruned</returns>
public bool Prune()
{
for (int i = allMDDs.Length - 1; i >= 0; i--)
{
for (int j = i + 1; j < allMDDs.Length; j++)
{
MDD.PruningDone pruningDone = MDD.PruningDone.NOTHING;
pruningDone = allMDDs[i].SyncMDDs(allMDDs[j], this.syncSize == 3);
if (pruningDone == MDD.PruningDone.EVERYTHING)
{
return(true);
}
}
}
if (allMDDs[0].levels == null)
{
return(true);
}
return(false);
}
public override SinglePlan[] Solve(ConflictAvoidanceTable CAT)
{
MDD[] match = new MDD[2];
bool Converging = true;
int[] changed = new int[allMDDs.Length];
int currentIteration = 0;
MDD.PruningDone conflictStatus = MDD.PruningDone.NOTHING;
while (Converging)
{
currentIteration++;
Converging = false;
for (int i = allMDDs.Length - 1; i >= 0; i--)
{
for (int j = i + 1; j < allMDDs.Length; j++)
{
if (changed[i] >= currentIteration - 1 || changed[j] >= currentIteration - 1) // If at least one of the two MDDs was changed during the last iteration
{
int matchCounterIncrement;
(conflictStatus, matchCounterIncrement) = allMDDs[i].SyncMDDs(allMDDs[j], this.syncSize == 3);
this.matchCounter += matchCounterIncrement;
if (conflictStatus == MDD.PruningDone.EVERYTHING)
{
return(null);
}
else if (conflictStatus == MDD.PruningDone.SOME)
{
changed[i] = currentIteration;
Converging = true;
}
(conflictStatus, matchCounterIncrement) = allMDDs[i].SyncMDDs(allMDDs[j], this.syncSize == 3);
this.matchCounter += matchCounterIncrement;
if (conflictStatus == MDD.PruningDone.EVERYTHING)
{
return(null);
}
else if (conflictStatus == MDD.PruningDone.SOME)
{
changed[i] = currentIteration;
Converging = true;
}
}
}
}
}
this.solver.survivedPruningHL++;
if (allMDDs[0].levels == null)
{
return(null);
}
A_Star_MDDs findSolution = new A_Star_MDDs(allMDDs, runner, CAT);
SinglePlan[] ans = findSolution.Solve();
generated = findSolution.generated;
expanded = findSolution.expanded;
conflictsNotAvoided = findSolution.conflictCount;
return(ans);
}
public override SinglePlan[] Solve(Dictionary <TimedMove, List <int> > conflictTable, Dictionary <TimedMove, List <int> > CBS_CAT)
{
MDD[] match = new MDD[2];
bool Converging = true;
int[] changed = new int[allMDDs.Length];
int currentIteration = 0;
MDD.PruningDone conflictStatus = MDD.PruningDone.NOTHING;
while (Converging)
{
currentIteration++;
Converging = false;
for (int i = allMDDs.Length - 1; i >= 0; i--)
{
for (int j = i + 1; j < allMDDs.Length; j++)
{
if (changed[i] >= currentIteration - 1 || changed[j] >= currentIteration - 1) // If at least one of the two MDDs was changed during the last iteration
{
conflictStatus = allMDDs[i].SyncMDDs(allMDDs[j], this.syncSize == 3);
if (conflictStatus == MDD.PruningDone.EVERYTHING)
{
return(null);
}
else if (conflictStatus == MDD.PruningDone.SOME)
{
changed[i] = currentIteration;
Converging = true;
}
conflictStatus = allMDDs[i].SyncMDDs(allMDDs[j], this.syncSize == 3);
if (conflictStatus == MDD.PruningDone.EVERYTHING)
{
return(null);
}
else if (conflictStatus == MDD.PruningDone.SOME)
{
changed[i] = currentIteration;
Converging = true;
}
}
}
}
}
CostTreeSearchSolver.passed++;
if (allMDDs[0].levels == null)
{
return(null);
}
AStarMDD findSolution = new AStarMDD(allMDDs, runner, conflictTable, CBS_CAT);
SinglePlan[] ans = findSolution.Solve();
generated = findSolution.generated;
expanded = findSolution.expanded;
caViolations = findSolution.conflictAvoidanceViolations;
return(ans);
}
