private void runCFMCBS(ICbsSolver solver, ProblemInstance instance)
{
// Run the algorithm
bool solved;
Console.WriteLine("----------------- " + solver + ", Minimizing MakeSpan -----------------");
Constants.ALLOW_WAIT_MOVE = true;
this.startTime = this.ElapsedMillisecondsTotal();
solver.Setup(instance, new MAM_Run()); // Defining MMStar as the low level of the algorithm
solved = solver.Solve();
elapsedTime = this.ElapsedMilliseconds();
if (solved)
{
Console.WriteLine("Total MakeSpan cost: {0}", solver.GetSolutionCost());
}
else
{
Console.WriteLine("Failed to solve CBS");
}
Console.WriteLine();
Console.WriteLine("Expanded nodes: {0}", solver.GetExpanded());
Console.WriteLine("Time in milliseconds: {0}", elapsedTime);
if (toPrint)
{
this.PrintStatistics(instance, elapsedTime, null, solver);
}
}
private void WriteGivenCFMCBSProblem(ProblemInstance instance, ICbsSolver solver, string plan)
{
writeToFile(
solver.GetName(), // solver name
planningTime.ToString(), // planning time
"MakeSpan", // cost function
solver.GetSolutionCost().ToString(), // solution cost
instanceId.ToString(), // instanceId
instance.fileName, // file Name
instance.m_vAgents.Length.ToString(), // #Agents
m_mapFileName, // Map name
solver.isSolved().ToString(), // Success
instance.m_nObstacles, // Obstacles
solver.GetExpanded().ToString(), // Expansions
solver.GetGenerated().ToString(), // Generates
preprocessingTime.ToString()); // preprocessing time
}