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prioritized_planning.cpp
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prioritized_planning.cpp
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#include "prioritized_planning.h"
template <typename SearchType>
PrioritizedPlanning<SearchType>::PrioritizedPlanning()
{
search = nullptr;
}
template <typename SearchType>
PrioritizedPlanning<SearchType>::PrioritizedPlanning (SearchType *Search)
{
search = Search;
}
template <typename SearchType>
PrioritizedPlanning<SearchType>::~PrioritizedPlanning()
{
if (search)
delete search;
}
template <typename SearchType>
MultiagentSearchResult PrioritizedPlanning<SearchType>::startSearch(const Map &map,
const Config &config, AgentSet &agentSet,
std::chrono::steady_clock::time_point globalBegin,
int globalTimeLimit)
{
std::chrono::steady_clock::time_point begin = std::chrono::steady_clock::now();
// std::cout << agentSet.getAgentCount() << std::endl;
if (config.withPerfectHeuristic) {
getPerfectHeuristic(map, agentSet);
search->setPerfectHeuristic(&perfectHeuristic);
}
std::vector<int> order;
for (int i = 0; i < agentSet.getAgentCount(); ++i) {
order.push_back(i);
}
if (config.ppOrder == 1 || config.ppOrder == 2) {
std::vector<int> dist;
for (int i = 0; i < agentSet.getAgentCount(); ++i) {
Agent agent = agentSet.getAgent(i);
dist.push_back(search->computeHFromCellToCell(
agent.getStart_i(), agent.getStart_j(), agent.getGoal_i(), agent.getGoal_j()));
}
std::sort(order.begin(), order.end(), [&dist, &config](int i, int j) {
return (dist[i] < dist[j] && config.ppOrder == 1) ||
(dist[i] > dist[j] && config.ppOrder == 2);
});
}
ConflictAvoidanceTable CAT;
std::vector<std::list<Node>> individualPaths;
if (config.lowLevel == CN_SP_ST_SCIPP || config.lowLevel == CN_SP_ST_ZSCIPP) {
Astar<> astar(false);
for (int i = 0; i < agentSet.getAgentCount(); ++i) {
Agent agent = agentSet.getAgent(i);
SearchResult sr = astar.startSearch(map, agentSet, agent.getStart_i(), agent.getStart_j(),
agent.getGoal_i(), agent.getGoal_j());
individualPaths.push_back(*sr.lppath);
CAT.addAgentPath(individualPaths.back().begin(), individualPaths.back().end());
}
}
MultiagentSearchResult result(false);
ConstraintsSet constraints;
agentsPaths.resize(agentSet.getAgentCount());
size_t maxDepth = 0;
std::vector<double> LLExpansions;
std::vector<double> LLNodes;
for (int i : order) {
std::chrono::steady_clock::time_point now = std::chrono::steady_clock::now();
if (std::chrono::duration_cast<std::chrono::milliseconds>(now - begin).count() > config.maxTime) {
result.pathfound = false;
return result;
}
if (config.lowLevel == CN_SP_ST_SCIPP || config.lowLevel == CN_SP_ST_ZSCIPP) {
CAT.removeAgentPath(individualPaths[i].begin(), individualPaths[i].end());
}
Agent agent = agentSet.getAgent(i);
SearchResult searchResult = search->startSearch(map, agentSet, agent.getStart_i(), agent.getStart_j(),
agent.getGoal_i(), agent.getGoal_j(), nullptr,
true, true, 0, -1, maxDepth + map.getEmptyCellCount(),
{}, constraints, false, CAT);
if (!searchResult.pathfound) {
return result;
}
LLExpansions.push_back(searchResult.nodesexpanded);
LLNodes.push_back(searchResult.nodescreated);
auto path = *searchResult.lppath;
maxDepth = std::max(maxDepth, path.size());
agentsPaths[i] = std::vector<Node>(path.begin(), path.end());
for (auto it = path.begin(); it != path.end(); ++it) {
if (std::next(it) == path.end()) {
constraints.addGoalNodeConstraint(it->i, it->j, it->g, i);
} else {
constraints.addNodeConstraint(it->i, it->j, it->g, i);
}
if (it != path.begin()) {
constraints.addEdgeConstraint(std::prev(it)->i, std::prev(it)->j, it->g, i, it->i, it->j);
}
}
}
result.pathfound = true;
result.agentsPaths = &agentsPaths;
std::chrono::steady_clock::time_point end = std::chrono::steady_clock::now();
int elapsedMilliseconds = std::chrono::duration_cast<std::chrono::milliseconds>(end - begin).count();
result.time = {static_cast<double>(elapsedMilliseconds) / 1000};
result.AvgLLExpansions = {(double)std::accumulate(LLExpansions.begin(), LLExpansions.end(), 0) / LLExpansions.size()};
result.AvgLLNodes = {(double)std::accumulate(LLNodes.begin(), LLNodes.end(), 0) / LLNodes.size()};
std::pair<int, int> costs = result.getCosts();
result.makespan = {double(costs.first)};
result.flowtime = {double(costs.second)};
return result;
}
template class PrioritizedPlanning<Astar<>>;
template class PrioritizedPlanning<SIPP<>>;
template class PrioritizedPlanning<SCIPP<>>;
template class PrioritizedPlanning<ZeroSCIPP<>>;