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conflict_based_search.h
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conflict_based_search.h
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#ifndef CONFLICT_BASED_SEARCH_H
#define CONFLICT_BASED_SEARCH_H
#include "isearch.h"
#include "scipp.h"
#include "zero_scipp.h"
#include "cbs_node.h"
#include "multiagent_search_result.h"
#include "multiagent_search_interface.h"
#include "config.h"
#include "conflict_avoidance_table.h"
#include "mdd.h"
#include "conflict_set.h"
#include "focal_lpa_star.h"
#include "replanning_astar.h"
#include "replanning_focal_search.h"
#include <numeric>
template <typename SearchType = Astar<>>
class ConflictBasedSearch : public MultiagentSearchInterface
{
public:
ConflictBasedSearch();
ConflictBasedSearch(SearchType* Search);
~ConflictBasedSearch(void);
void clear() override;
MultiagentSearchResult startSearch(const Map &map, const Config &config, AgentSet &agentSet,
std::chrono::steady_clock::time_point globalBegin = std::chrono::steady_clock::time_point(),
int globalTimeLimit = -1);
template<typename Iter>
static ConflictSet findConflict(const std::vector<Iter> &starts, const std::vector<Iter> &ends,
int agentId = -1, bool findAllConflicts = false,
bool withCardinalConflicts = false, const std::vector<MDD> &mdds = std::vector<MDD>());
std::set<CBSNode<SearchType>> open;
std::list<CBSNode<SearchType>> close;
std::set<CBSNode<SearchType>, bool (*)(const CBSNode<SearchType>&, const CBSNode<SearchType>&)> focal;
std::multiset<double> sumLb;
SearchType* search;
std::vector<SearchType> rootSearches;
int bestKnownCost = CN_INFINITY;
void createNode(const Map &map, const AgentSet &agentSet, const Config &config,
const Conflict &conflict, std::vector<int> &costs,
ConstraintsSet &constraints, int id1,
const Node &pos1, const Node &pos2,
std::vector<std::list<Node>::iterator> &starts,
std::vector<std::list<Node>::iterator> &ends,
ConflictAvoidanceTable &CAT, ConflictSet &conflictSet,
std::vector<MDD> &mdds, std::vector<double> &lb,
std::vector<int> &LLExpansions, std::vector<int> &LLNodes,
CBSNode<SearchType> *parentPtr,
CBSNode<SearchType> &node,
SearchType *search, bool updateNode, bool forceRestart,
std::chrono::steady_clock::time_point globalBegin = std::chrono::steady_clock::time_point(),
int globalTimeLimit = -1);
void getState(const std::vector<int> &costs, int &oldCost,
const std::vector<std::list<Node>::iterator> &starts, std::list<Node>::iterator& oldStart,
const std::vector<std::list<Node>::iterator> &ends, std::list<Node>::iterator& oldEnd,
const std::vector<MDD> &mdds, MDD& oldMDD,
const std::vector<double> &lb, double& oldLb,
int agentId, bool withMDD, bool withLb);
void setState(std::vector<int> &costs, int oldCost,
std::vector<std::list<Node>::iterator> &starts, std::list<Node>::iterator oldStart,
std::vector<std::list<Node>::iterator> &ends, std::list<Node>::iterator oldEnd,
std::vector<MDD> &mdds, const MDD& oldMDD,
std::vector<double> &lb, double oldLb,
int agentId, bool withMDD, bool withLb);
private:
std::list<Node> getNewPath(const Map &map, const AgentSet &agentSet, const Agent &agent,
const Constraint &constraint, const ConstraintsSet &constraints,
const std::list<Node>::iterator pathStart,
const std::list<Node>::iterator pathEnd,
bool withCAT, const ConflictAvoidanceTable &CAT, std::vector<double> &lb,
std::vector<int> &LLExpansions, std::vector<int> &LLNodes,
SearchType *search, bool freshStart,
std::chrono::steady_clock::time_point globalBegin = std::chrono::steady_clock::time_point(),
int globalTimeLimit = -1);
};
template<typename SearchType>
template<typename Iter>
ConflictSet ConflictBasedSearch<SearchType>::findConflict(const std::vector<Iter> &starts, const std::vector<Iter> &ends,
int agentId, bool findAllConflicts,
bool withCardinalConflicts, const std::vector<MDD> &mdds) {
ConflictSet conflictSet;
std::vector<Iter> iters = starts;
std::vector<int> order;
for (int i = 0; i < iters.size(); ++i) {
if (i != agentId) {
order.push_back(i);
}
}
if (agentId != -1) {
order.push_back(agentId);
}
for (int time = 0;; ++time) {
std::unordered_multimap<Node, int, NodeHash> positions;
std::unordered_multimap<std::pair<Node, Node>, int, NodePairHash> edges;
std::vector<int> ids;
int finished = 0;
for (int i : order) {
if (agentId == -1 || i == agentId) {
auto posRange = positions.equal_range(*iters[i]);
for (auto posIt = posRange.first; posIt != posRange.second; ++posIt) {
Conflict conflict(i, posIt->second, *iters[i], *iters[i], time, false);
int id1 = i, id2 = posIt->second;
int size1 = 0, size2 = 0;
if (withCardinalConflicts) {
size1 = mdds[id1].getLayerSize(time);
size2 = mdds[id2].getLayerSize(time);
}
if (size1 == 1 && size2 == 1) {
conflictSet.addCardinalConflict(conflict);
if (!findAllConflicts) {
return conflictSet;
}
} else if (size1 == 1 || size2 == 1) {
conflictSet.addSemiCardinalConflict(conflict);
} else {
conflictSet.addNonCardinalConflict(conflict);
}
if (!findAllConflicts && !withCardinalConflicts) {
return conflictSet;
}
}
}
positions.insert(std::make_pair(*iters[i], i));
if (std::next(iters[i]) != ends[i]) {
if (agentId == -1 || i == agentId) {
auto edgeRange = edges.equal_range(std::make_pair(*std::next(iters[i]), *iters[i]));
for (auto edgeIt = edgeRange.first; edgeIt != edgeRange.second; ++edgeIt) {
Conflict conflict(i, edgeIt->second, *iters[i], *std::next(iters[i]), time + 1, true);
int id1 = i, id2 = edgeIt->second;
int inSize1 = 0, outSize1 = 0, inSize2 = 0, outSize2 = 0;
if (withCardinalConflicts) {
inSize1 = mdds[id1].getLayerSize(time);
outSize1 = mdds[id1].getLayerSize(time + 1);
inSize2 = mdds[id2].getLayerSize(time);
outSize2 = mdds[id2].getLayerSize(time + 1);
}
if ((inSize1 == 1 && outSize1 == 1) && (inSize1 == 2 && outSize2 == 1)) {
conflictSet.addCardinalConflict(conflict);
if (!findAllConflicts) {
return conflictSet;
}
} else if ((inSize1 == 1 && outSize1 == 1) || (inSize2 == 1 && outSize2 == 1)) {
conflictSet.addSemiCardinalConflict(conflict);
} else {
conflictSet.addNonCardinalConflict(conflict);
}
if (!findAllConflicts && !withCardinalConflicts) {
return conflictSet;
}
}
}
edges.insert(std::make_pair(std::make_pair(*iters[i], *std::next(iters[i])), i));
}
if (std::next(iters[i]) != ends[i]) {
++iters[i];
} else {
++finished;
}
}
if (finished == iters.size()) {
break;
}
}
return conflictSet;
}
#endif // CONFLICT_BASED_SEARCH_H