public void setConflicts(HashSet <TimedMove> ID_CAT, HashSet_U <TimedMove> CBS_CAT)
{
TimedMove m2 = new TimedMove();
if (this.prevStep == null)
{
return;
}
for (int i = 0; i < allSteps.Length; i++)
{
m2.setup(allSteps[i].getX(), allSteps[i].getY(), Move.Direction.NO_DIRECTION, getDepth());
if (ID_CAT != null && ID_CAT.Contains(m2))
{
conflicts++;
}
if (CBS_CAT != null && CBS_CAT.Contains(m2))
{
conflicts++;
}
m2.direction = Move.getDirection(allSteps[i].getX(), allSteps[i].getY(), prevStep.allSteps[i].getX(), prevStep.allSteps[i].getY());
m2.setOppositeMove();
if (ID_CAT != null && ID_CAT.Contains(m2))
{
conflicts++;
}
if (CBS_CAT != null && CBS_CAT.Contains(m2))
{
conflicts++;
}
}
}
private LinkedList <Move>[] GetAnswer(MDDStep finish)
{
if (finish == null)
{
return(new LinkedList <Move> [1]);
}
LinkedList <Move>[] ans = new LinkedList <Move> [problem.Length];
Move.Direction direction;
for (int i = 0; i < ans.Length; i++)
{
ans[i] = new LinkedList <Move>();
}
MDDStep current = finish;
while (current.prevStep != null)
{
for (int i = 0; i < problem.Length; i++)
{
direction = Move.getDirection(current.allSteps[i].getX(), current.allSteps[i].getY(), current.prevStep.allSteps[i].getX(), current.prevStep.allSteps[i].getY());
ans[i].AddFirst(new Move(current.allSteps[i].getX(), current.allSteps[i].getY(), direction));
}
current = current.prevStep;
}
for (int i = 0; i < problem.Length; i++)
{
ans[i].AddFirst(new Move(current.allSteps[i].getX(), current.allSteps[i].getY(), 0));
}
return(ans);
}
