/// <summary>
/// Initializes a new instance of the <see cref="FARMethod"/> class.
/// </summary>
/// <param name="graph">graph</param>
/// <param name="seed">The seed to use for the randomizer.</param>
/// <param name="logger">The logger to use.</param>
public DummyMethod(Graph graph, int seed, PathPlanningCommunicator logger)
: base(graph, seed, logger)
{
if (graph.BackwardEdges == null)
{
graph.GenerateBackwardEgdes();
}
_deadlockHandler = new DeadlockHandler(graph, seed);
_blocked = new HashSet <int>();
}
/// <summary>
/// Initializes a new instance of the <see cref="FARMethod"/> class.
/// </summary>
/// <param name="graph">graph</param>
/// <param name="seed">The seed to use for the randomizer.</param>
/// <param name="logger">The logger to use.</param>
public CBSMethod(Graph graph, int seed, PathPlanningCommunicator logger)
: base(graph, seed, logger)
{
if (graph.BackwardEdges == null)
{
graph.GenerateBackwardEgdes();
}
_reservationTable = new ReservationTable(graph);
_agentReservationTable = new ReservationTable(graph, false, true, false);
_deadlockHandler = new DeadlockHandler(graph, seed);
}
/// <summary>
/// Initializes a new instance of the <see cref="FARMethod"/> class.
/// </summary>
/// <param name="graph">graph</param>
/// <param name="seed">The seed to use for the randomizer.</param>
/// <param name="logger">The logger to use.</param>
public BCPMethod(Graph graph, int seed, PathPlanningCommunicator logger)
: base(graph, seed, logger)
{
if (graph.BackwardEdges == null)
{
graph.GenerateBackwardEgdes();
}
_reservationTable = new ReservationTable(graph, true, true, false);
_biasedCost = new Dictionary <int, Dictionary <int, double> >();
_deadlockHandler = new DeadlockHandler(graph, seed);
}
/// <summary>
/// constructor
/// </summary>
/// <param name="graph">graph</param>
/// <param name="seed">The seed to use for the randomizer.</param>
/// <param name="logger">The logger to use.</param>
public WHCAvStarMethod(Graph graph, int seed, PathPlanningCommunicator logger)
: base(graph, seed, logger)
{
if (graph.BackwardEdges == null)
{
graph.GenerateBackwardEgdes();
}
rraStars = new Dictionary <int, ReverseResumableAStar>();
_reservationTable = new ReservationTable(graph);
if (UseDeadlockHandler)
{
_deadlockHandler = new DeadlockHandler(graph, seed);
}
}
/// <summary>
/// Initializes a new instance of the <see cref="FARMethod"/> class.
/// </summary>
/// <param name="graph">graph</param>
/// <param name="seed">The seed to use for the randomizer.</param>
/// <param name="logger">The logger to use.</param>
public FARMethod(Graph graph, int seed, EvadingStrategy evadingStragety, PathPlanningCommunicator logger)
: base(graph, seed, logger)
{
_evadingStragety = evadingStragety;
if (graph.BackwardEdges == null)
{
graph.GenerateBackwardEgdes();
}
_waitFor = new Dictionary <int, int>();
_reservationTable = new ReservationTable(graph, false, true, false);
_rraStar = new Dictionary <int, ReverseResumableAStar>();
_moveTime = new Dictionary <int, double>();
_waitTime = new Dictionary <int, double>();
_es2evadedFrom = new Dictionary <int, HashSet <int> >();
if (UseDeadlockHandler)
{
_deadlockHandler = new DeadlockHandler(graph, seed);
}
}
/// <summary>
/// constructor
/// </summary>
/// <param name="graph">graph</param>
/// <param name="seed">The seed to use for the randomizer.</param>
/// <param name="logger">The logger to use.</param>
public WHCAnStarMethod(Graph graph, int seed, List <int> agentIds, List <int> startIds, PathPlanningCommunicator logger)
: base(graph, seed, logger)
{
if (graph.BackwardEdges == null)
{
graph.GenerateBackwardEgdes();
}
rraStars = new Dictionary <int, ReverseResumableAStar>();
_reservationTable = new ReservationTable(graph, true, false, false);
_calculatedReservations = new Dictionary <int, List <ReservationTable.Interval> >();
for (var i = 0; i < agentIds.Count; i++)
{
_calculatedReservations.Add(agentIds[i], new List <ReservationTable.Interval>(new ReservationTable.Interval[] { new ReservationTable.Interval(startIds[i], 0, double.PositiveInfinity) }));
_reservationTable.Add(_calculatedReservations[agentIds[i]]);
}
if (UseDeadlockHandler)
{
_deadlockHandler = new DeadlockHandler(graph, seed);
}
}
/// <summary>
/// Initializes a new instance of the <see cref="IndependenceDetection" /> class.
/// </summary>
/// <param name="lowLevelSolver">The low level solver.</param>
/// <param name="seed">The seed to use for the randomizer.</param>
public IndependenceDetection(Graph graph, int seed, LowLevelSolver lowLevelSolver = null)
{
this.LowLevSolver = lowLevelSolver;
this._graph = graph;
this._deadlockHandler = new DeadlockHandler(_graph, seed);
}
