override protected WorldState CreateSearchRoot(int minDepth = -1, int minCost = -1, MDDNode mddNode = null)
{
return(new WorldStateForPartialExpansion(this.instance.agents, minDepth, minCost, mddNode)); // Consider using a WorldStateForBasicPartialExpansion that only has the IsAlreadyExpanded stuff
}
public WorldStateWithOD(AgentState[] states, int minDepth = -1, int minCost = -1, MDDNode mddNode = null)
: base(states, minDepth, minCost, mddNode)
{
this.agentTurn = 0;
}
public void addParent(MDDNode parent)
{
parents.AddLast(parent);
}
public void addChild(MDDNode child)
{
children.AddLast(child);
}
/// <summary>
/// Builds an MDD by first performing a BFS from start_pos to the agent's goal,
/// then deleting all nodes which don't lead to the goal at the given cost.
/// </summary>
/// <param name="mddNum"></param>
/// <param name="agentNum"></param>
/// <param name="start_pos"></param>
/// <param name="cost">The MDD must be of this cost</param>
/// <param name="numOfLevels">
/// The MDD must be of this number of levels, not counting level zero.
/// If higher than cost, the extra levels will be WAITs at the goal.
/// </param>
/// <param name="numOfAgents">Used for initializng coexistence lists</param>
/// <param name="instance"></param>
/// <param name="ignoreConstraints"></param>
/// <param name="supportPruning"></param>
public MDD(int mddNum, int agentNum, Move start_pos, int cost, int numOfLevels, int numOfAgents,
ProblemInstance instance, bool ignoreConstraints = false, bool supportPruning = true, ISet <TimedMove> reserved = null,
ISet <CbsConstraint> constraints = null, ISet <CbsConstraint> positiveConstraints = null)
{ // numOfLevels >= cost
this.problem = instance;
this.mddNum = mddNum;
this.agentNum = agentNum;
this.numOfAgents = numOfAgents;
this.cost = cost;
this.levels = new LinkedList <MDDNode> [numOfLevels + 1];
this.supportPruning = supportPruning;
Dictionary <int, TimedMove>[] mustConstraints = null;
if (ignoreConstraints == false && constraints != null && constraints.Count != 0)
{
this.queryConstraint = new CbsConstraint();
this.queryConstraint.queryInstance = true;
}
if (ignoreConstraints == false && positiveConstraints != null && positiveConstraints.Count != 0)
{
// TODO: Code dup with A_Star's constructor
mustConstraints = new Dictionary <int, TimedMove> [positiveConstraints.Max(con => con.GetTimeStep()) + 1]; // To have index MAX, array needs MAX + 1 places.
foreach (CbsConstraint con in positiveConstraints)
{
int timeStep = con.GetTimeStep();
if (mustConstraints[timeStep] == null)
{
mustConstraints[timeStep] = new Dictionary <int, TimedMove>();
}
mustConstraints[timeStep][con.agentNum] = con.move;
}
}
var perLevelClosedList = new Dictionary <MDDNode, MDDNode>();
var toDelete = new List <MDDNode>();
for (int i = 0; i < levels.Length; i++)
{
levels[i] = new LinkedList <MDDNode>();
}
MDDNode root = new MDDNode(new TimedMove(start_pos, 0), numOfAgents, this, supportPruning); // Root
LinkedListNode <MDDNode> llNode = new LinkedListNode <MDDNode>(root);
root.setMyNode(llNode);
llNode.Value.startOrGoal = true;
levels[0].AddFirst(llNode);
for (int i = 0; i < numOfLevels; i++) // For each level, populate the _next_ level
{
int heuristicBound = cost - i - 1; // We want g+h <= cost, so h <= cost-g. -1 because it's the bound of the _children_.
if (heuristicBound < 0)
{
heuristicBound = 0;
}
// Go over each MDDNode in this level
foreach (MDDNode currentMddNode in levels[i]) // Since we're not deleting nodes in this method, we can use the simpler iteration method :)
{
List <MDDNode> children = this.GetAllChildren(currentMddNode, heuristicBound, numOfAgents,
constraints, mustConstraints, reserved);
if (children.Count == 0) // Heuristic wasn't perfect because of constraints, illegal moves or other reasons
{
toDelete.Add(currentMddNode);
}
foreach (MDDNode child in children)
{
MDDNode toAdd = child; // The compiler won't let me assign to the foreach variable...
if (perLevelClosedList.ContainsKey(child))
{
toAdd = perLevelClosedList[child];
}
else
{
perLevelClosedList.Add(toAdd, toAdd);
llNode = new LinkedListNode <MDDNode>(toAdd);
toAdd.setMyNode(llNode);
levels[i + 1].AddLast(llNode);
}
currentMddNode.addChild(toAdd); // forward edge
toAdd.addParent(currentMddNode); // backward edge
}
}
perLevelClosedList.Clear();
}
foreach (MDDNode goal in levels[numOfLevels]) // The goal may be reached in more than one direction
{
goal.startOrGoal = true;
}
foreach (MDDNode remove in toDelete)
{
remove.delete();
}
}
public MDD(MDD other)
{
this.problem = other.problem;
this.mddNum = other.mddNum;
this.agentNum = other.agentNum;
this.numOfAgents = other.numOfAgents;
this.cost = other.cost;
this.supportPruning = other.supportPruning;
if (other.levels == null)
{
this.levels = null;
return;
}
this.levels = new LinkedList <MDDNode> [other.levels.Length];
int numOfLevels = other.levels.Length - 1; // Level zero not counted
for (int i = 0; i < levels.Length; i++)
{
levels[i] = new LinkedList <MDDNode>();
}
Dictionary <MDDNode, MDDNode> originals = new Dictionary <MDDNode, MDDNode>();
Dictionary <MDDNode, MDDNode> copies = new Dictionary <MDDNode, MDDNode>();
MDDNode copiedRoot = new MDDNode(new TimedMove(other.levels[0].First.Value.move),
numOfAgents, this, supportPruning); // Root
LinkedListNode <MDDNode> llNode = new LinkedListNode <MDDNode>(copiedRoot);
copiedRoot.setMyNode(llNode);
llNode.Value.startOrGoal = true;
levels[0].AddFirst(llNode);
originals.Add(copiedRoot, other.levels[0].First.Value);
copies.Add(other.levels[0].First.Value, copiedRoot);
for (int i = 0; i < numOfLevels; i++) // For each level, populate the _next_ level
{
foreach (MDDNode copiedNode in levels[i])
{
foreach (MDDNode originalChildNode in originals[copiedNode].children)
{
MDDNode copiedChild;
if (copies.ContainsKey(originalChildNode) == false)
{
copiedChild = new MDDNode(originalChildNode.move, numOfLevels, this, supportPruning);
originals.Add(copiedChild, originalChildNode);
copies.Add(originalChildNode, copiedChild);
llNode = new LinkedListNode <MDDNode>(copiedChild);
copiedChild.setMyNode(llNode);
levels[i + 1].AddLast(llNode);
}
else
{
copiedChild = copies[originalChildNode];
}
copiedNode.addChild(copiedChild); // forward edge
copiedChild.addParent(copiedNode); // backward edge
}
}
}
originals.Clear();
copies.Clear();
foreach (MDDNode goal in levels[numOfLevels]) // The goal may be reached in more than one direction
{
goal.startOrGoal = true;
}
this.queryConstraint = other.queryConstraint;
}
/// <summary>
/// Create a state with the given state for every agent.
/// </summary>
/// <param name="allAgentsState"></param>
/// <param name="minDepth"></param>
/// <param name="minCost"></param>
/// <param name="mddNode"></param>
public WorldState(AgentState[] allAgentsState, int minDepth = -1, int minCost = -1, MDDNode mddNode = null)
{
this.allAgentsState = allAgentsState.ToArray();
this.makespan = allAgentsState.Max(state => state.lastMove.time); // We expect to only find at most two G values within the agent group
this.CalculateG(); // G not necessarily zero when solving a partially solved problem.
this.sumConflictCounts = 0;
this.conflictCounts = new Dictionary <int, int>(); // Unused if not running under CBS, and we can't tell at this point easily
this.conflictTimes = new Dictionary <int, List <int> >(); // Unused if not running under CBS, and we can't tell at this point easily
this.minGoalTimeStep = minDepth;
this.minGoalCost = minCost;
if (mddNode == null)
{
this.currentMoves = new Dictionary <TimedMove, int>();
}
this.goalCost = NOT_SET;
this.goalSingleCosts = null;
this.singlePlans = null;
this.hBonus = 0;
this.mddNode = mddNode;
}
/// <summary>
/// Factory method. Creates the initial state from which the search will start.
/// This will be the first state to be inserted to OPEN.
/// </summary>
/// <returns>The root of the search tree</returns>
protected virtual WorldState CreateSearchRoot(int minDepth = -1, int minCost = -1, MDDNode mddNode = null)
{
return(new WorldState(this.instance.agents, minDepth, minCost, mddNode));
}
override protected WorldState CreateSearchRoot(int minDepth = -1, int minCost = -1, MDDNode mddNode = null)
{
var root = new WorldStateForPartialExpansion(this.instance.agents, minDepth, minCost, mddNode);
root.sic = (int)SumIndividualCosts.h(root, this.instance);
return(root);
}
