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sipp.h
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sipp.h
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#ifndef SIPP_H
#define SIPP_H
#include "cSearch.h"
class SIPP : public cSearch
{
public:
SIPP(double weight, int metrictype, bool breakingties);
~SIPP();
SearchResult startSearch(cLogger *Log, cMap &Map);
private:
bool findPath(int numOfCurAgent, const cMap &Map);
void findSuccessors(const Node curNode, const cMap &Map, std::list<Node> &succs, int numOfCurAgent);
void addOpen(Node &newNode);
Node findMin(int size);
double countHValue(int i, int j, int goal_i, int goal_j);
bool stopCriterion();
void makePrimaryPath(Node curNode);
void makeSecondaryPath(Node curNode);
void addConstraints();
std::vector<conflict> CheckConflicts();
double weight;
int metrictype;
bool breakingties;
unsigned int closeSize, openSize;
std::unordered_multimap<int, Node> close;
std::list<Node> *open, lppath;
std::vector<Node> hppath;
std::vector<std::vector<std::vector<movement>>> ctable;
};
#endif // SIPP_H