public RealTimeAnytimeDStar(Heuristic <SS, DS> H, Transformer <SS, DS> Transformer,
StateVisualizer <SS, DS> sv, ChooseMethodStep sm, double Ratio)
{
this.Transformer = Transformer;
this.H = H;
this.aS = new RealTimeAnytimeDStar <SS, DS> .AnytimeDStarState( );
this.aS.sv = sv;
this.sm = sm;
this.Ratio = Ratio;
}
public RealTimeDStarLite(Heuristic <SS, DS> H,
Transformer <SS, DS> Transformer,
StateVisualizer <SS, DS> sv, ChooseMethodLandMarkGoal lgm,
ChooseMethodFilterSucc fsm, ChooseMethodStep sm, Metric Weight, double Ratio)
{
this.Transformer = Transformer;
this.H = H;
this.sv = sv;
this.lgm = lgm;
this.fsm = fsm;
this.sm = sm;
this.Weight = Weight;
this.Ratio = Ratio;
}
/// <summary>
/// Returns an algorithm based on the given string and the given data
/// fields. This will throw an AlgorithmNotFoundException if the given
/// key is invalid based on the given implementation of this interface.
/// </summary>
/// <param name="Key">A string key of the algorithm which should be
/// selected.</param>
/// <param name="Params">object params of additional optional data
/// to use when fetching the algorithm. What this data means depends
/// on the implementation.</param>
/// <returns></returns>
public Algorithm <SS, DS> GetAlgorithm(string Key,
HeuristicFactory <SS, DS> HeuristicFactory, int offset,
params string[] Data)
{
if (RealTimeDataSet)
{
int i;
if ((i = Key.IndexOf("-Weight=")) > 0)
{
string AfterValue = Key.Substring(i + 8);
int j = AfterValue.IndexOf("-");
if (j > 0)
{
AfterValue = AfterValue.Substring(0, j);
}
Weight = new Metric(double.Parse(AfterValue));
if (j > 0)
{
AfterValue = Key.Substring(i + 8 + j);
Key = Key.Substring(0, i) + AfterValue;
}
else
{
Key = Key.Substring(0, i);
}
}
else if ((i = Key.IndexOf("-Ratio=")) > 0)
{
string AfterValue = Key.Substring(i + 7);
int j = AfterValue.IndexOf("-");
if (j > 0)
{
AfterValue = AfterValue.Substring(0, j);
}
Ratio = double.Parse(AfterValue);
if (j > 0)
{
AfterValue = Key.Substring(i + 7 + j);
Key = Key.Substring(0, i) + AfterValue;
}
else
{
Key = Key.Substring(0, i);
}
}
}
try {
if (Key.Equals("Human"))
{
return(new Human(vis as OpenGLStateVisualizer) as Algorithm <SS, DS>);
}
else if (Key.Equals("NoOp"))
{
return(new NoOp <SS, DS>( ));
// Some Special Algs. for myself.
}
else if (Key.Equals("depth-first-closed-list"))
{
return(new DepthFirstSearch <SS, DS>(Metric.Zero, true, vis));
}
else if (Key.Equals("depth-first-closed-list-bounded"))
{
return(new DepthFirstSearch <SS, DS>(new Metric(double.Parse(Data[offset])),
true, vis));
}
else if (Key.Equals("depth-first-duplicate-detection"))
{
return(new DepthFirstSearch <SS, DS>(Metric.Zero, false, vis));
}
else if (Key.Equals("depth-first-duplicate-detection-bounded"))
{
return(new DepthFirstSearch <SS, DS>(new Metric(double.Parse(Data[offset])),
false, vis));
/*} else if ( Key.Equals( "depth-first-id-closed-list" ) ) {
* return new IterativeDeepingSearch<SS, DS>(
* new DepthFirstSearch<SS, DS>( new Metric( 1.0d ), true, vis ) );
* } else if ( Key.Equals( "depth-first-id-duplicate-detection" ) ) {
* return new IterativeDeepingSearch<SS, DS>(
* new DepthFirstSearch<SS, DS>( new Metric( 1.0d ), false, vis ) );
*/
}
// Start A1 Algs.
else if (Key.Equals("depth-first"))
{
return(new DepthFirstSearch <SS, DS>(Metric.Zero, true, vis));
} /*else if ( Key.Equals( "depth-first-id" ) ) {
* return new IterativeDeepingSearch<SS, DS>(
* new DepthFirstSearch<SS, DS>( new Metric( 1.0d ), false, vis ) );
* } */
else if (Key.Equals("uniform-cost"))
{
return(new UniformedCostSearch <SS, DS>(true, vis));
}
else if (Key.Equals("greedy"))
{
return(new Greedy <SS, DS>(h, true, vis));
}
else if (Key.Equals("A*"))
{
return(new Net.Mokon.Edu.Unh.CS.AI.Search.Algorithms.AStar <SS, DS>(
h, true, vis));
}
else if (Key.Equals("weighted-a-star"))
{
return(new WeightedAStar <SS, DS>(
HeuristicFactory.GetHeuristic(Data[offset + 1]), true,
new Metric(double.Parse(Data[offset])), vis));
}
else if (Key.Equals("weighted-a-star-duplicate-detection"))
{
return(new WeightedAStar <SS, DS>(
HeuristicFactory.GetHeuristic(Data[offset + 1]), false,
new Metric(double.Parse(Data[offset])), vis));
} /*else if ( Key.Equals( "ida-star" ) ) {
* return new IterativeDeepingSearch<SS, DS>(
* new Net.Mokon.Edu.Unh.CS.AI.Search.Algorithms.AStar<SS, DS>(
* new PathLengthGComputer<SS, DS>( ),
* HeuristicFactory.GetHeuristic( Data[1] ), new Metric( 1.0d ), true, vis ) );
* // Real Time Algorithms
* } else if ( Key.Equals( "LRTA*" ) ) {
* return new LRTAStar<SS, DS>( h, true, vis, Weight, false );
* } else if ( Key.Equals( "LRTA*-dyn" ) ) {
* return new LRTAStar<SS, DS>( h, false, vis, Weight, false );
* } else if ( Key.Equals( "RTA*" ) ) {
* return new LRTAStar<SS, DS>( h, true, vis, Weight, true );
* } else if ( Key.Equals( "RTA*-dyn" ) ) {
* return new LRTAStar<SS, DS>( h, false, vis, Weight, true );
* } */
else if (Key.Equals("D*Lite"))
{
return(new DStarLite <SS, DS>(h, sut, vis));
}
else if (Key.Equals("Anytime-D*"))
{
return(new AnytimeDStar <SS, DS>(h, sut, vis));
}
else if (Key.Equals("LSS-LRTA*"))
{
return(new LSSLRTAStar <SS, DS>(h, vis, sut));
}
else if (Key.Equals("A*-RealTime"))
{
return(new Net.Mokon.Edu.Unh.CS.AI.Search.Algorithms.RealTime.
AStar <SS, DS>(h));
}
else if (Key.StartsWith("RealTimeD*Lite"))
{
ChooseMethodLandMarkGoal lmg = ChooseMethodLandMarkGoal.Goal;
ChooseMethodFilterSucc fs = ChooseMethodFilterSucc.All;
ChooseMethodStep step = ChooseMethodStep.MinHLandmarkGoal;
if (Key.Contains("LSS-LRTA*")) // must be b4 lrta*
{
step = ChooseMethodStep.LSSLRTAStar;
}
else if (Key.Contains("LRTA*"))
{
step = ChooseMethodStep.LRTAStar;
}
else if (Key.Contains("RTA*"))
{
step = ChooseMethodStep.RTAStar;
}
else if (Key.Contains("AStar"))
{
step = ChooseMethodStep.AStar;
}
else if (Key.Contains("NoOp"))
{
step = ChooseMethodStep.Null;
}
else if (Key.Contains("Adjusted"))
{
step = ChooseMethodStep.MinHAdustedLandmarkGoal;
}
if (Key.Contains("Goal"))
{
lmg = ChooseMethodLandMarkGoal.Goal;
}
else if (Key.Contains("USample"))
{
lmg = ChooseMethodLandMarkGoal.USample;
}
else if (Key.Contains("UTop"))
{
lmg = ChooseMethodLandMarkGoal.UTop;
}
if (Key.Contains("Lock"))
{
fs = ChooseMethodFilterSucc.Lock;
}
return(new RealTimeDStarLite <SS, DS>(h, sut, vis,
lmg, fs, step, Weight, Ratio));
}
else if (Key.StartsWith("RealTimeAnytimeD*"))
{
ChooseMethodStep step = ChooseMethodStep.LSSLRTAStar;
if (Key.Contains("LSS-LRTA*")) // must be b4 lrta*
{
step = ChooseMethodStep.LSSLRTAStar;
}
else if (Key.Contains("LRTA*"))
{
step = ChooseMethodStep.LRTAStar;
}
else if (Key.Contains("RTA*"))
{
step = ChooseMethodStep.RTAStar;
}
else if (Key.Contains("NoOp"))
{
step = ChooseMethodStep.Null;
}
return(new RealTimeAnytimeDStar <SS, DS>(h, sut, vis, step, Ratio));
}
else if (Key.Equals("BRTA*"))
{
return(new BRTSAStar <SS, DS>(h, sut));
}
else if (Key.Equals("BRTwA*"))
{
return(new BRTSwAStar <SS, DS>(h, sut, Weight));
/*} else if ( Key.Equals( "TBA*-Old" ) ) {
* return new TBAStar<SS, DS>( ( SS, DS, G, Os ) => gc.G( SS, DS, G ) + h.H( SS, DS, G, Os ) );
* } else if ( Key.Equals( "TBA*" ) ) {
* return new TBAStar2<SS, DS>( ( SS, DS, G, Os ) => gc.G( SS, DS, G ) + h.H( SS, DS, G, Os ), 0.9f, 10 );
* } else if ( Key.Equals( "TBA*-LPA*" ) ) {
* return new TBAStar2<SS, DS>( h, sut, 0.9f, 10, vis );
* } else if ( Key.StartsWith( "RealTimeTBA*-LPA*" ) ) {
* ReconstructPathStartingPoint rpsp = ReconstructPathStartingPoint.UTop;
* ShortcutDetection sd = ShortcutDetection.None;
*
* if ( Key.Contains( "-UTop" ) ) {
* rpsp = ReconstructPathStartingPoint.UTop;
* } else if ( Key.Contains( "-BestH" ) ) {
* rpsp = ReconstructPathStartingPoint.BestH;
* } else if ( Key.Contains( "-Alternate" ) ) {
* rpsp = ReconstructPathStartingPoint.Alternate;
* }
*
* if ( Key.Contains( "-ShortcutDetection" ) ) {
* sd = ShortcutDetection.AStar;
* }
*
* return new RealTimeTBAStar<SS, DS>( h, sut, 0.9f, 10, vis, rpsp, sd );*/
}
else if (Key.Equals("BRTA*Sorting"))
{
return(new BRTSAStarSorting <SS, DS>(h, sut));
}
else if (Key.Equals("LPA*"))
{
return(new LPAStar <SS, DS>(h, sut, vis, ReconstructPathStartingPoint.UTop));
}
else if (Key.Equals(""))
{
return(null);
}
else
{
throw new AlgorithmNotFoundException(
"Algorithm [ " + Key + " ] Not Implemented");
}
} catch (FormatException) {
throw new AlgorithmNotFoundException(
"Algorithm [ " + Key + " ] Problem Parsing Arguments");
}
}