public CFMCbsNode(int numberOfAgents, CFM_CBS cbs, ushort[] agentsGroupAssignment = null)
{
this.cbs = cbs;
mamPlan = null;
mamCost = -1;
allSingleAgentCosts = new int[numberOfAgents];
countsOfInternalAgentsThatConflict = new int[numberOfAgents];
this.nodeConflicts = null;
if (agentsGroupAssignment == null)
{
this.agentsGroupAssignment = new ushort[numberOfAgents];
for (ushort i = 0; i < numberOfAgents; i++)
{
this.agentsGroupAssignment[i] = i;
}
}
else
{
this.agentsGroupAssignment = agentsGroupAssignment.ToArray <ushort>();
}
agentNumToIndex = new Dictionary <int, int>();
for (int i = 0; i < numberOfAgents; i++)
{
agentNumToIndex[this.cbs.GetProblemInstance().m_vAgents[i].agentIndex] = i;
}
depth = 0;
replanSize = 1;
agentAExpansion = ExpansionState.NOT_EXPANDED;
agentBExpansion = ExpansionState.NOT_EXPANDED;
this.prev = null;
this.constraint = null;
this.solver = solver;
this.singleAgentSolver = singleAgentSolver;
}
/// <summary>
/// Child from branch action constructor
/// </summary>
/// <param name="father"></param>
/// <param name="newConstraint"></param>
/// <param name="agentToReplan"></param>
public CbsNode(CbsNode father, CbsConstraint newConstraint, int agentToReplan)
{
this.allSingleAgentPlans = father.allSingleAgentPlans.ToArray <SinglePlan>();
this.allSingleAgentCosts = father.allSingleAgentCosts.ToArray <int>();
this.agentsGroupAssignment = father.agentsGroupAssignment.ToArray <ushort>();
this.prev = father;
this.constraint = newConstraint;
this.depth = (ushort)(this.prev.depth + 1);
agentAExpansion = ExpansionState.NOT_EXPANDED;
agentBExpansion = ExpansionState.NOT_EXPANDED;
replanSize = 1;
this.problem = father.problem;
this.solver = father.solver;
this.singleAgentSolver = father.singleAgentSolver;
this.runner = father.runner;
}
private ExpansionState GetExpansionState(string packageUniqueId, bool createNewIfNotFound = false)
{
if (string.IsNullOrEmpty(packageUniqueId))
{
return(null);
}
var state = m_ExpansionStates.FirstOrDefault(s => s.packageUniqueId == packageUniqueId);
if (state == null && createNewIfNotFound)
{
state = new ExpansionState {
packageUniqueId = packageUniqueId, expanded = false, seeAllVersion = false
};
m_ExpansionStates.Add(state);
}
return(state);
}
public CbsNode(int numberOfAgents, ProblemInstance problem, ICbsSolver solver, ICbsSolver singleAgentSolver, Run runner)
{
allSingleAgentPlans = new SinglePlan[numberOfAgents];
allSingleAgentCosts = new int[numberOfAgents];
depth = 0;
replanSize = 1;
agentAExpansion = ExpansionState.NOT_EXPANDED;
agentBExpansion = ExpansionState.NOT_EXPANDED;
agentsGroupAssignment = new ushort[numberOfAgents];
for (ushort i = 0; i < numberOfAgents; i++)
{
agentsGroupAssignment[i] = i;
}
this.prev = null;
this.constraint = null;
this.problem = problem;
this.solver = solver;
this.singleAgentSolver = singleAgentSolver;
this.runner = runner;
}
/// <summary>
/// Child from merge action constructor. FIXME: Code dup with previous constructor.
/// </summary>
/// <param name="father"></param>
/// <param name="mergeGroupA"></param>
/// <param name="mergeGroupB"></param>
public CFMCbsNode(CFMCbsNode father, int mergeGroupA, int mergeGroupB)
{
mamPlan = null;
mamCost = -1;
this.allSingleAgentCosts = father.allSingleAgentCosts.ToArray <int>();
this.countsOfInternalAgentsThatConflict = father.countsOfInternalAgentsThatConflict.ToArray <int>();
this.nodeConflicts = null;
this.agentsGroupAssignment = father.agentsGroupAssignment.ToArray <ushort>();
this.agentNumToIndex = father.agentNumToIndex;
this.prev = father;
this.constraint = null;
this.depth = (ushort)(this.prev.depth + 1);
this.agentAExpansion = ExpansionState.NOT_EXPANDED;
this.agentBExpansion = ExpansionState.NOT_EXPANDED;
this.replanSize = 1;
this.solver = father.solver;
this.singleAgentSolver = father.singleAgentSolver;
this.cbs = father.cbs;
}