public List <AgentDecisionTask> RationaleDecision(List <AgentTasksInfo> agentTasks)
{
bestSet = null;
List <List <Task> > allTasks = new List <List <Task> >();
//Handle currenTask, only task in iteration task? or sent appart?
foreach (AgentTasksInfo a in agentTasks)
{
List <Task> tasks = new List <Task>(a.GetIterationTasks());
allTasks.Add(tasks);
}
FormSets(allTasks, 0, new List <Task>());
if (bestSet == null)
{
return(null);
}
List <AgentDecisionTask> agentsDecisions = new List <AgentDecisionTask>();
List <Task> bestTasks = bestSet.GetSet();
for (int i = 0; i < bestTasks.Count; i++)
{
AgentDecisionTask adt = new AgentDecisionTask(bestTasks[i], agentTasks[i].GetId());
agentsDecisions.Add(adt);
}
return(agentsDecisions);
}
private void PrintSet(TaskSet set)
{
string print = "Set = (";
foreach (Task t in set.GetSet())
{
print += t.GetId() + ", ";
}
print += ")";
Debug.Log(print);
}
private void CalculateSetUtility(TaskSet set)
{
int cost = 0;
List <Task> tasks = set.GetSet();
for (int i = 0; i < tasks.Count - 1; i++)
{
cost += tasks[i].GetPath().Count;
for (int j = i + 1; j < tasks.Count; j++)
{
if (ExistsCollision(tasks[i].GetPath(), tasks[j].GetPath()))
{
cost += this.colisionPenalty;
}
if (tasks[i].GetAction().GetActionType().Equals(tasks[j].GetAction().GetActionType()))
{
cost += this.concurrencyPenalty;
}
}
}
set.SetCost(cost);
}