protected override List <WorldState> ExpandOneAgent(List <WorldState> intermediateNodes, int agentIndex)
{
if (this.alreadyExpanded == true) // Necessary because after expansion, the generated nodes have an incremented agentTurn that once again equals agentIndex
// and because it's possible that a node may have valid children that aren't already in the closed list
{
return(intermediateNodes); // Do nothing to this agent
}
WorldStateWithOD parent = (WorldStateWithOD)intermediateNodes[0];
if (agentIndex < parent.agentTurn)
{
return(intermediateNodes); // Do nothing to this agent
}
var generated = base.ExpandOneAgent(intermediateNodes, agentIndex);
int childAgentTurn = ((parent.agentTurn + 1) % (this.instance.agents.Length));
foreach (var node in generated)
{
WorldStateWithOD childNode = (WorldStateWithOD)node;
childNode.agentTurn = childAgentTurn;
// Makespan increases only if this is the move of the first agent. This makes sure that under a makespan
// cost function, partial nodes have a correct cost and can even serve as goal nodes.
if (parent.agentTurn != 0)
{
childNode.makespan--; // Cancel the increment in base
}
}
this.alreadyExpanded = true;
return(generated);
}
public WorldStateWithOD(WorldStateWithOD cpy) : base(cpy)
{
this.agentTurn = cpy.agentTurn;
}