public SinglePlan[] Solve()
{
MDDStep currentNode;
ExpandedNode toExpand = new ExpandedNode();
while (openList.Count > 0)
{
if (runner.ElapsedMilliseconds() > Constants.MAX_TIME)
{
return(null);
}
currentNode = (MDDStep)openList.Remove();
// Check if node is the goal
if (this.GoalTest(currentNode))
{
conflictAvoidanceViolations = currentNode.conflicts;
return(GetAnswer(currentNode));
}
// Expand
expanded++;
toExpand.Setup(currentNode);
Expand(toExpand);
}
return(null);
}
private bool singleAgentA_Star(AgentState agent)
{
BinaryHeap openList = new BinaryHeap(); // TODO: Safe to use OpenList here instead?
HashSet <AgentState> closedList = new HashSet <AgentState>();
openList.Add(agent);
AgentState temp = agent;
bool valid;
while (openList.Count > 0)
{
if (this.runner.ElapsedMilliseconds() > 120000)
{
return(false);
}
temp = (AgentState)openList.Remove();
if (temp.h == 0)
{
valid = true;
for (int i = temp.lastMove.time; i <= maxPathCost; i++)
{
if (RT.Contains(new TimedMove(temp.lastMove.x, temp.lastMove.y, Move.Direction.NO_DIRECTION, i)))
{
valid = false;
}
}
if (valid)
{
reservePath(temp);
totalTime += temp.lastMove.time;
//printPath(temp);
parked.Add(new Move(temp.lastMove.x, temp.lastMove.y, Move.Direction.NO_DIRECTION), temp.lastMove.time);
return(true);
}
}
expanded++;
expendNode(temp, openList, closedList);
}
return(false);
}