private bool singleAgentAStar(AgentState agent)
{
AgentState.EquivalenceOverDifferentTimes = false;
BinaryHeap <AgentState> openList = new BinaryHeap <AgentState>(); // TODO: Safe to use OpenList here instead?
HashSet <AgentState> closedList = new HashSet <AgentState>();
agent.h = this.problem.GetSingleAgentOptimalCost(agent);
openList.Add(agent);
AgentState node;
this.initialEstimate += agent.h;
TimedMove queryTimedMove = new TimedMove();
while (openList.Count > 0)
{
if (this.runner.ElapsedMilliseconds() > Constants.MAX_TIME)
{
return(false);
}
node = openList.Remove();
if (node.h == 0)
{
bool valid = true;
for (int i = node.lastMove.time; i <= maxPathCostSoFar; i++)
{
queryTimedMove.setup(node.lastMove.x, node.lastMove.y, Move.Direction.NO_DIRECTION, i);
if (reservationTable.Contains(queryTimedMove))
{
valid = false;
}
}
if (valid)
{
this.paths[agent.agent.agentNum] = new SinglePlan(node);
reservePath(node);
totalcost += node.lastMove.time;
parked.Add(new Move(node.lastMove.x, node.lastMove.y, Move.Direction.NO_DIRECTION), node.lastMove.time);
return(true);
}
}
expandNode(node, openList, closedList);
expanded++;
}
return(false);
}
private void expandNode(AgentState node, BinaryHeap <AgentState> openList, HashSet <AgentState> closedList)
{
foreach (TimedMove move in node.lastMove.GetNextMoves())
{
if (this.isValidMove(move))
{
AgentState child = new AgentState(node);
child.prev = node;
child.MoveTo(move);
if (closedList.Contains(child) == false)
{
closedList.Add(child);
child.h = this.problem.GetSingleAgentOptimalCost(child);
openList.Add(child);
generated++;
}
}
}
}
public A_Star_MDDs(MDD[] problem, Run runner, ConflictAvoidanceTable CAT)
{
this.expanded = 0;
this.generated = 0;
A_Star_MDDs_Node root;
this.problem = problem;
this.runner = runner;
this.CAT = CAT;
this.closedList = new Dictionary <A_Star_MDDs_Node, A_Star_MDDs_Node>();
this.openList = new BinaryHeap <A_Star_MDDs_Node>();
MDDNode[] sRoot = new MDDNode[problem.Length];
for (int i = 0; i < problem.Length; i++)
{
sRoot[i] = problem[i].levels[0].First.Value;
}
root = new A_Star_MDDs_Node(sRoot, null);
openList.Add(root);
closedList.Add(root, root); // There will never be a hit. This is only done for consistancy
conflictCount = 0;
}