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 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;
}
