override protected WorldState CreateSearchRoot(int minDepth = -1, int minCost = -1, MDDNode mddNode = null)
{
var root = new WorldStateForPartialExpansion(this.instance.agents, minDepth, minCost, mddNode);
root.sic = (int)SumIndividualCosts.h(root, this.instance);
return(root);
}
/// <summary>
/// Copy constructor
/// </summary>
/// <param name="cpy"></param>
public WorldStateForPartialExpansion(WorldStateForPartialExpansion cpy)
: base(cpy)
{
alreadyExpanded = false; // Creating a new unexpanded node from cpy
// For intermediate nodes created during expansion (fully expanded nodes have these fields recalculated when they're expanded)
remainingDeltaF = cpy.remainingDeltaF;
singleAgentDeltaFs = cpy.singleAgentDeltaFs; // For the UpdateRemainingDeltaF call on temporary nodes.
// Notice that after an agent is moved its row won't be up-to-date.
fLookup = cpy.fLookup; // For the hasChildrenForCurrentDeltaF call on temporary nodes.
// Notice that after an agent is moved, all rows up to and including the one of the agent that moved
// won't be up-to-date.
maxDeltaF = cpy.maxDeltaF; // Not necessarily achievable after some of the agents moved.
// The above is OK because we won't be using data for agents that already moved.
}
