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multiagent_search_interface.h
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multiagent_search_interface.h
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#ifndef MULTIAGENT_SEARCH_INTEFACE_H
#define MULTIAGENT_SEARCH_INTEFACE_H
#include "config.h"
#include "agent_set.h"
#include "map.h"
#include "multiagent_search_result.h"
#include "conflict_set.h"
#include "constraints_set.h"
#include <vector>
class MultiagentSearchInterface
{
public:
virtual ~MultiagentSearchInterface(void);
virtual MultiagentSearchResult startSearch(const Map &map, const Config &config, AgentSet &AgentSet) = 0;
virtual ConflictSet findConflict(
const Map &map, const AgentSet &agentSet,
const ConstraintsSet &constraints, const std::vector<int> &costs,
std::vector<int> &LLExpansions, std::vector<int> &LLNodes,
const std::vector<std::list<Node>::iterator> &starts,
const std::vector<std::list<Node>::iterator> &ends,
int agentId = -1, bool findAllConflicts = false,
bool withCardinalConflicts = false) { return ConflictSet(); };
virtual void clear() {
agentsPaths.clear();
}
protected:
std::vector<std::vector<Node>> agentsPaths;
};
#endif // MULTIAGENT_SEARCH_INTEFACE_H