public CBS(ICbsSolver singleAgentSolver, ICbsSolver generalSolver)
{
this.closedList = new Dictionary <CbsNode, CbsNode>();
this.openList = new OpenList(this);
this.solver = generalSolver;
this.singleAgentSolver = singleAgentSolver;
}
public CBS_LocalConflicts(ICbsSolver singleAgentSolver, ICbsSolver generalSolver, int mergeThreshold = -1)
{
this.closedList = new Dictionary <CbsNode, CbsNode>();
this.openList = new OpenList(this);
this.mergeThreshold = mergeThreshold;
this.solver = generalSolver;
this.singleAgentSolver = singleAgentSolver;
}
/// <summary>
/// Default constructor.
/// </summary>
public ClassicAStar(HeuristicCalculator heuristic = null)
{
this.closedList = new Dictionary <WorldState, WorldState>();
this.openList = new OpenList(this);
this.heuristic = heuristic;
this.queryConstraint = new CbsConstraint();
this.queryConstraint.queryInstance = true;
}