/// <summary>
/// Prunes the individual agent MDDs and, if possible, matches them to return a non-conflicting configuration of
/// paths of the given costs.
/// </summary>
/// <param name="CAT"></param>
/// <returns>
/// null if no solution is found.
/// </returns>
public override SinglePlan[] Solve(ConflictAvoidanceTable CAT)
{
if (this.Prune()) // Everything was pruned
{
return(null);
}
this.solver.survivedPruningHL++;
A_Star_MDDs findSolution = new A_Star_MDDs(allMDDs, runner, CAT);
SinglePlan[] ans = findSolution.Solve();
this.generated = findSolution.generated;
this.expanded = findSolution.expanded;
this.conflictsNotAvoided = findSolution.conflictCount;
this.conflictCounts = findSolution.GetExternalConflictCounts();
this.conflictTimes = findSolution.GetConflictTimes();
return(ans);
}
public override SinglePlan[] Solve(ConflictAvoidanceTable CAT)
{
for (int i = 0; i < allMDDs.Length; i++)
{
if (allMDDs[i].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;
conflictCounts = findSolution.GetExternalConflictCounts();
conflictTimes = findSolution.GetConflictTimes();
return(ans);
}
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(ConflictAvoidanceTable CAT)
{
A_Star_MDDs findSolution;
SinglePlan[] subCheck;
MDD[] match;
MddMatchAndPrune matcher = new MddMatchAndPrune(runner, this);
foreach (MDD checkValid in allMDDs)
{
if (checkValid.levels == null)
{
return(null);
}
}
if (maxGroupChecked >= 2)
{
match = new MDD[2];
for (int i = allMDDs.Length - 1; i >= 0; i--)
{
for (int j = i + 1; j < allMDDs.Length; j++)
{
match[0] = allMDDs[i];
match[1] = allMDDs[j];
//matcher.initialize(match);
//if (matcher.pruneMDDs() == false)
findSolution = new A_Star_MDDs(match, runner, CAT);
subCheck = findSolution.Solve();
if (subCheck == null || subCheck[0] == null)
{
return(null);
}
}
}
}
if (maxGroupChecked >= 3)
{
match = new MDD[3];
for (int i = allMDDs.Length - 2; i >= 0; i--)
{
for (int j = i + 1; j < allMDDs.Length - 1; j++)
{
for (int t = j + 1; t < allMDDs.Length; t++)
{
match[0] = allMDDs[i];
match[1] = allMDDs[j];
match[2] = allMDDs[t];
//matcher.initialize(match);
//if (matcher.pruneMDDs() == false)
findSolution = new A_Star_MDDs(match, runner, CAT);
subCheck = findSolution.Solve();
if (subCheck == null || subCheck[0] == null)
{
return(null);
}
}
}
}
}
if (maxGroupChecked >= 4)
{
match = new MDD[4];
for (int i = allMDDs.Length - 3; i >= 0; i--)
{
for (int j = i + 1; j < allMDDs.Length - 2; j++)
{
for (int t = j + 1; t < allMDDs.Length - 1; t++)
{
for (int m = t + 1; m < allMDDs.Length; m++)
{
match[0] = allMDDs[i];
match[1] = allMDDs[j];
match[2] = allMDDs[t];
match[3] = allMDDs[m];
//matcher.initialize(match);
//if (matcher.pruneMDDs() == false)
findSolution = new A_Star_MDDs(match, runner, CAT);
subCheck = findSolution.Solve();
if (subCheck == null || subCheck[0] == null)
{
return(null);
}
}
}
}
}
}
this.solver.survivedPruningHL++;
if (allMDDs[0].levels == null)
{
return(null);
}
findSolution = new A_Star_MDDs(allMDDs, runner, CAT);
SinglePlan[] ans = findSolution.Solve();
generated = findSolution.generated;
expanded = findSolution.expanded;
conflictsNotAvoided = findSolution.conflictCount;
conflictCounts = findSolution.GetExternalConflictCounts();
conflictTimes = findSolution.GetConflictTimes();
return(ans);
}