public long solve(CFMAStar.CostFunction costFunction)
{
// Independence Detection
List <List <TimedMove> > nonConflictsPaths = null;
IndependentDetection id = new IndependentDetection(this.problemInstance, this.goalState);
MAM_AgentState[] newStartPositions = id.Detect(out nonConflictsPaths);
if (newStartPositions.Length != 0)
{
this.problemInstance = problemInstance.ReplanProblem(newStartPositions);
this.reducer = new CFMAM_MCMF_Reducer(this.problemInstance, this.goalState);
reducer.reduce(costFunction);
if (reducer.outputProblem == null)
{
return(-1);
}
MinCostMaxFlow mcmfSolver = new MinCostMaxFlow(reducer.outputProblem);
timer = Stopwatch.StartNew();
solution = mcmfSolver.SolveMinCostFlow();
List <TimedMove>[] partialPlan = this.reducer.GetCFMAMSolution(this.solution, this.mcmfTime, true);
if (costFunction == CFMAStar.CostFunction.MakeSpan)
{
while (!isPathForEachAgent(partialPlan))
{
this.reducer.addNetworkLayer();
mcmfSolver = new MinCostMaxFlow(reducer.outputProblem);
solution = mcmfSolver.SolveMinCostFlow();
partialPlan = this.reducer.GetCFMAMSolution(this.solution, this.mcmfTime, true);
}
}
timer.Stop();
this.plan = mergePlans(partialPlan, nonConflictsPaths);
this.mcmfTime = timer.ElapsedMilliseconds;
this.solutionCost = calculateCost(this.plan, costFunction);
}
else
{
this.plan = nonConflictsPaths;
this.solutionCost = calculateCost(this.plan, costFunction);
}
return(this.solutionCost);
}
