/// <summary>
/// Builds the pattern database, storing the heuristic table in memory.
/// </summary>
public override void build()
{
/**
* Create the subproblem pertaining to this additive pattern
* database. We do this by taking the problem instance and swapping
* the initial state with the goal. We will also save a copy of our
* m_vAgents data structure, because during the building process
* our state already is a projection.
*/
WorldState goal =
new WorldState(m_Problem.m_vAgents, m_vAgents);
foreach (AgentState ags in goal.allAgentsState)
{
ags.SwapCurrentWithGoal();
}
List <uint> vBackup = m_vAgents;
m_vAgents = new List <uint>(goal.allAgentsState.Length);
for (uint i = 0; i < goal.allAgentsState.Length; ++i)
{
m_vAgents.Add(i);
}
/**
* Initialize variables and insert the root node into our queue. We
* use Byte.MaxValue to symbolize that an entry in our heuristic
* table is uninitialized. The first time that we initialize an
* entry in the table is also the first time that we encounter the
* particular state, which is also the shortest path to that state
* because we are conducting an uninformed breadth-first search.
*/
m_vTable = new Byte[m_vPermutations[0] * (m_Problem.m_nLocations + 1)];
for (int i = 0; i < m_vTable.Length; ++i)
{
m_vTable[i] = Byte.MaxValue;
}
Context c = new Context();
c.initialize("q1.tmp", "q2.tmp");
m_vTable[hash(goal)] = 0;
c.write(goal);
c.nextLevel();
while (c.m_nNodes > 0)
{
for (ulong n = 0; n < c.m_nNodes; ++n)
{
/**
* Get the next node, generate its children and write the
* children to the next queue file. I had previously
* thought that since we are doing an uninformed breadth-
* first search, the first time we generate a node we would
* also have the shortest path to that node. Unfortunately,
* for this particular domain, this is not true.
*/
List <WorldState> vChildren = new List <WorldState>();
WorldState tws = (WorldState)c.m_bf.Deserialize(c.m_fsQueue);
UInt32 nHashParent = hash(tws);
this.Expand(tws, vChildren);
foreach (WorldState i in vChildren)
{
UInt32 nHash = hash(i);
/**
* We store only the difference in heuristic value
* between the single agent shortest path heuristic and
* our pattern database heuristic. The hope is that the
* resulting value will always fit within the minimum
* and maximum ranges of a single byte.
*/
Byte nCandidateValue;
if (m_bOffsetFromSingleShortestPath)
{
int nSingleAgentShortestPath = 0;
foreach (var a in i.allAgentsState)
{
nSingleAgentShortestPath +=
this.m_Problem.GetSingleAgentOptimalCost(a);
}
int nDifference = i.g - nSingleAgentShortestPath;
Debug.Assert(nDifference >= 0);
Debug.Assert(nDifference < Byte.MaxValue);
nCandidateValue = (Byte)nDifference;
}
else
{
Debug.Assert(i.g < Byte.MaxValue);
nCandidateValue = (Byte)i.g;
}
if (nCandidateValue < m_vTable[nHash])
{
c.write(i);
m_vTable[nHash] = nCandidateValue;
}
}
}
c.nextLevel();
}
c.clear();
m_vAgents = vBackup;
}
public virtual uint h(WorldState s)
{
return(0);
}
/// <summary>
/// Used when WorldState objects are put in the open list priority queue
/// </summary>
/// <param name="other"></param>
/// <returns></returns>
public virtual int CompareTo(IBinaryHeapItem other)
{
WorldState that = (WorldState)other;
int thisF = this.h + this.g;
int thatF = that.h + that.g;
if (thisF < thatF)
{
return(-1);
}
if (thisF > thatF)
{
return(1);
}
// Tie breaking:
bool thisIsGoal = this.GoalTest();
bool thatIsGoal = that.GoalTest();
if (thisIsGoal == true && thatIsGoal == false) // The elaborate form is necessary to keep the comparison consistent. Otherwise goalA<goalB and goalB<goalA
{
return(-1);
}
if (thatIsGoal == true && thisIsGoal == false)
{
return(1);
}
// Independence Detection framework conflicts:
if (this.potentialConflictsCount < that.potentialConflictsCount)
{
return(-1);
}
if (this.potentialConflictsCount > that.potentialConflictsCount)
{
return(1);
}
// CBS framework conflicts:
// It makes sense to prefer nodes that conflict less, and not just nodes that don't conflict at all,
// because a 3-way conflict takes more work to resolve than
if (this.cbsInternalConflictsCount < that.cbsInternalConflictsCount)
{
return(-1);
}
if (this.cbsInternalConflictsCount > that.cbsInternalConflictsCount)
{
return(1);
}
// //M-Star: prefer nodes with smaller collision sets:
//if (this.collisionSets != null) // than M-Star is running
//{
// // The collision sets change during collision set backpropagation and closed list hits.
// // Backpropagation goes from a node's child to the node, so it's tempting to think
// // it only happens when the node is already expanded and out of the open list,
// // but partial expansion makes that false.
// // Closed list hits can also happen while the node is waiting to be expanded.
// // So the max rank can change while the node is in the open list -
// // it can't be used for tie breaking :(.
// if (this.collisionSets.maxRank < that.collisionSets.maxRank)
// return -1;
// if (that.collisionSets.maxRank > this.collisionSets.maxRank)
// return 1;
//}
// f, collision sets, conflicts and internal conflicts being equal, prefer nodes with a larger g
// - they're closer to the goal so less nodes would probably be generated by them on the way to it.
if (this.g < that.g)
{
return(1);
}
if (this.g > that.g)
{
return(-1);
}
return(0);
}
public void write(WorldState tws)
{
m_bf.Serialize(m_fsNext, tws);
++m_nNextNodes;
}
/// <summary>
/// Used when WorldState objects are put in the open list priority queue
/// </summary>
/// <param name="other"></param>
/// <returns></returns>
public virtual int CompareTo(IBinaryHeapItem other)
{
WorldState that = (WorldState)other;
int thisF = this.h + this.g;
int thatF = that.h + that.g;
if (thisF < thatF)
{
return(-1);
}
if (thisF > thatF)
{
return(1);
}
// Tie breaking:
bool thisIsGoal = this.GoalTest();
bool thatIsGoal = that.GoalTest();
if (thisIsGoal == true && thatIsGoal == false) // The elaborate form is necessary to keep the comparison consistent. Otherwise goalA<goalB and goalB<goalA
{
return(-1);
}
if (thatIsGoal == true && thisIsGoal == false)
{
return(1);
}
// Independence Detection framework conflicts:
if (this.potentialConflictsCount < that.potentialConflictsCount)
{
return(-1);
}
if (this.potentialConflictsCount > that.potentialConflictsCount)
{
return(1);
}
// CBS framework conflicts:
// It makes sense to prefer nodes that conflict less, and not just nodes that don't conflict at all,
// because a 3-way conflict takes more work to resolve than
if (this.cbsInternalConflictsCount < that.cbsInternalConflictsCount)
{
return(-1);
}
if (this.cbsInternalConflictsCount > that.cbsInternalConflictsCount)
{
return(1);
}
// f, conflicts and internal conflicts being equal, prefer nodes with a larger g
// - they're closer to the goal so less nodes would probably be generated by them on the way to it.
if (this.g < that.g)
{
return(1);
}
if (this.g > that.g)
{
return(-1);
}
return(0);
}
protected override WorldState CreateSearchNode(WorldState from)
{
return(new WorldStateWithOD((WorldStateWithOD)from));
}
/// <summary>
/// Expands a node. This is done recursively - generating agent possibilities one at a time.
/// This includes:
/// - Generating the children
/// - Inserting them into OPEN
/// - Insert node into CLOSED
/// Why does a PDB need to know how to expand nodes? Seems like someone else's job
/// </summary>
/// <param name="currentNode">The node to expand</param>
/// <param name="children">The generated nodes will be filled into this collection</param>
public void Expand(WorldState currentNode, ICollection <WorldState> children)
{
this.Expand(currentNode, 0, children, new HashSet <Move>()); // TODO: Need to think if HashSet is the correct option here.
}
public override void Expand(WorldState nodeP)
{
var node = (WorldStateForPartialExpansion)nodeP;
if (node.isAlreadyExpanded() == false)
{
node.calcSingleAgentDeltaFs(instance, this.IsValid);
expandedFullStates++;
node.alreadyExpanded = true;
node.targetDeltaF = 0; // Assuming a consistent heuristic (as done in the paper), the min delta F is zero.
node.remainingDeltaF = node.targetDeltaF; // Just for the hasChildrenForCurrentDeltaF call.
while (node.hasMoreChildren() && node.hasChildrenForCurrentDeltaF() == false) // DeltaF=0 may not be possible if all agents have obstacles between their location and the goal
{
node.targetDeltaF++;
node.remainingDeltaF = node.targetDeltaF;
}
if (node.hasMoreChildren() == false) // Node has no possible children at all
{
node.Clear();
return;
}
}
//Debug.Print("Expanding node " + node);
// If this node was already expanded, notice its h was updated, so the deltaF refers to its original H
base.Expand(node);
node.targetDeltaF++; // This delta F was exhausted
node.remainingDeltaF = node.targetDeltaF;
while (node.hasMoreChildren() && node.hasChildrenForCurrentDeltaF() == false)
{
node.targetDeltaF++;
node.remainingDeltaF = node.targetDeltaF;
}
if (node.hasMoreChildren() && node.hasChildrenForCurrentDeltaF() && node.h + node.g + node.targetDeltaF <= this.maxCost)
{
// Increment H before re-insertion into open list
int sicEstimate = (int)SumIndividualCosts.h(node, this.instance); // Re-compute even if the heuristic used is SIC since this may be a second expansion
if (node.h < sicEstimate + node.targetDeltaF)
{
// Assuming the heuristic used doesn't give a lower estimate than SIC for each and every one of the node's children,
// (an ok assumption since SIC is quite basic, no heuristic we use is ever worse than it)
// then the current target deltaF is really exhausted, since the deltaG is always correct,
// and the deltaH predicted by SIC is less than or equal to the finalDeltaH.
// So if the heuristic gives the same estimate as SIC for this node
// (and that mainly happens when SIC happens to give a perfect estimate),
// we can increment the node's h to SIC+targetDeltaH
node.h = sicEstimate + node.targetDeltaF;
}
// Re-insert node into open list
openList.Add(node);
}
else
{
node.Clear();
}
}
protected override WorldState CreateSearchNode(WorldState from)
{
return(new WorldStateForPartialExpansion((WorldStateForPartialExpansion)from));
}