private bool singleAgentA_Star(AgentState agent)
{
BinaryHeap openList = new BinaryHeap(); // TODO: Safe to use OpenList here instead?
HashSet <AgentState> closedList = new HashSet <AgentState>();
openList.Add(agent);
AgentState temp = agent;
bool valid;
while (openList.Count > 0)
{
if (this.runner.ElapsedMilliseconds() > 120000)
{
return(false);
}
temp = (AgentState)openList.Remove();
if (temp.h == 0)
{
valid = true;
for (int i = temp.lastMove.time; i <= maxPathCost; i++)
{
if (RT.Contains(new TimedMove(temp.lastMove.x, temp.lastMove.y, Move.Direction.NO_DIRECTION, i)))
{
valid = false;
}
}
if (valid)
{
reservePath(temp);
totalTime += temp.lastMove.time;
//printPath(temp);
parked.Add(new Move(temp.lastMove.x, temp.lastMove.y, Move.Direction.NO_DIRECTION), temp.lastMove.time);
return(true);
}
}
expanded++;
expendNode(temp, openList, closedList);
}
return(false);
}
public AStarMDD(MDD[] problem, Run runner, Dictionary <TimedMove, List <int> > conflicts, Dictionary <TimedMove, List <int> > CBS_CAT)
{
this.expanded = 0;
this.generated = 0;
MDDStep root;
this.problem = problem;
this.runner = runner;
this.ID_CAT = conflicts;
this.CBS_CAT = CBS_CAT;
this.closedList = new Dictionary <MDDStep, MDDStep>();
this.openList = new BinaryHeap();
MDDNode[] sRoot = new MDDNode[problem.Length];
for (int i = 0; i < problem.Length; i++)
{
sRoot[i] = problem[i].levels[0].First.Value;
sRoot[i].legal = true;
}
root = new MDDStep(sRoot, null);
openList.Add(root);
closedList.Add(root, root); // There will never be a hit. This is only done for consistancy
conflictAvoidanceViolations = 0;
}
public AStarMDD(MDD[] problem, Run runner, HashSet <TimedMove> conflicts, HashSet_U <TimedMove> CBS_CAT)
{
this.expanded = 0;
this.generated = 0;
MDDStep root;
this.problem = problem;
this.runner = runner;
this.ID_CAT = conflicts;
this.CBS_CAT = CBS_CAT;
this.closedList = new Dictionary <MDDStep, MDDStep>();
this.openList = new BinaryHeap();
MDDNode[] sRoot = new MDDNode[problem.Length];
for (int i = 0; i < problem.Length; i++)
{
sRoot[i] = problem[i].levels[0].First.Value;
sRoot[i].legal = true;
}
root = new MDDStep(sRoot, null);
openList.Add(root);
// Not adding it automatically to the closed list here?
conflictAvoidanceViolations = 0;
}
private void expendNode(AgentState node, BinaryHeap openList, HashSet <AgentState> closedList)
{
foreach (TimedMove move in node.lastMove.GetNextMoves())
{
if (isValidMove(move))
{
AgentState temp = new AgentState(node);
AgentState tempCL = temp;
temp.prev = node;
if (move.time > maxPathCost)
{
tempCL = new AgentState(temp);
tempCL.lastMove.time = maxPathCost;
}
if (!closedList.Contains(tempCL))
{
closedList.Add(tempCL);
temp.lastMove.time = move.time;
openList.Add(temp);
generated++;
}
}
}
}
