/// <summary>
/// constructor
/// </summary>
/// <param name="instance">instance</param>
public WHCAnStarPathManager(Instance instance)
: base(instance)
{
//Need a Request on Fail
BotNormal.RequestReoptimizationAfterFailingOfNextWaypointReservation = true;
//translate to lightweight graph
var graph = GenerateGraph();
var config = instance.ControllerConfig.PathPlanningConfig as WHCAnStarPathPlanningConfiguration;
PathFinder = new WHCAnStarMethod(graph, instance.SettingConfig.Seed, instance.Bots.Select(b => b.ID).ToList(), instance.Bots.Select(b => _waypointIds[instance.WaypointGraph.GetClosestWaypoint(b.Tier, b.X, b.Y)]).ToList(), new PathPlanningCommunicator(
instance.LogSevere,
instance.LogDefault,
instance.LogInfo,
instance.LogVerbose,
() => { instance.StatOverallPathPlanningTimeouts++; }));
var method = PathFinder as WHCAnStarMethod;
method.LengthOfAWaitStep = config.LengthOfAWaitStep;
method.RuntimeLimitPerAgent = config.RuntimeLimitPerAgent;
method.RunTimeLimitOverall = config.RunTimeLimitOverall;
method.LengthOfAWindow = config.LengthOfAWindow;
method.UseBias = config.UseBias;
method.UseDeadlockHandler = config.UseDeadlockHandler;
if (config.AutoSetParameter)
{
//best parameter determined my master thesis
method.LengthOfAWindow = 15;
method.UseBias = false;
method.RuntimeLimitPerAgent = config.Clocking / instance.Bots.Count;
method.RunTimeLimitOverall = config.Clocking;
}
}
public void WHCAnStar()
{
var method = new WHCAnStarMethod(GetGraph(), 0, new List <int>(new int[] { 0, 1 }), new List <int>(new int[] { 2, 1 }), PathPlanningCommunicator.DUMMY_COMMUNICATOR);
method.LengthOfAWaitStep = 0.99;
method.UseBias = false;
var agents = Test(method);
output(agents);
}