CostTreeSearch.cs


namespace mapf;

///// <summary>
///// Ignore. Implementation of ID for ICTS.
///// </summary>
//class CostTreeSearch : IndependenceDetection
//{
//    public static string PARENT_GROUP1_KEY = "parentGroup1";
//    public static string PARENT_GROUP2_KEY = "parentGroup2";


//    public CostTreeSearch(HeuristicCalculator heuristic)
//        : base(, new CostTreeSearchSolver(), heuristic) { }

//    public CostTreeSearch(ISolver singleSolver, ISolver groupSolver, HeuristicCalculator heuristic)
//        : base(singleSolver, groupSolver, heuristic) { }

//    public override string GetName() { return "CostTreeSearch+ID "; }

//    public override string ToString()
//    {
//        return GetName();
//    }

//    /// <summary>
//    /// Join the conflicting groups into a single group
//    /// </summary>
//    /// <param name="conflict">An object that describes the conflict</param>
//    /// <returns>The composite group of agents</returns>
//    protected override AgentsGroup JoinGroups(Conflict conflict)
//    {
//        AgentsGroup answer = conflict.group1.Join(conflict.group2);
//        // TODO: Currently storing the previous groups - this might lead to a memory problem when there are many agents
//        // (if this happens then store only the costs)
//        answer.instance.parameters[PARENT_GROUP1_KEY] = conflict.group1;
//        answer.instance.parameters[PARENT_GROUP2_KEY] = conflict.group2;

//        // Free memory of grandparents
//        conflict.group1.instance.parameters.Remove(PARENT_GROUP1_KEY);
//        conflict.group1.instance.parameters.Remove(PARENT_GROUP2_KEY);
//        conflict.group2.instance.parameters.Remove(PARENT_GROUP1_KEY);
//        conflict.group2.instance.parameters.Remove(PARENT_GROUP2_KEY);

//        return answer;
//    }

//}
//class CostTreeSearchOldMatching : CostTreeSearch
//{
//    int sycSize;
//    public CostTreeSearchOldMatching(int sycSize, HeuristicCalculator heuristic)
//        : base(new CostTreeSearchSolverOldMatching(sycSize), heuristic) { this.sycSize = sycSize; }

//    public override string GetName() { return "ICTS " + sycSize + "E+ID "; }
//}
//class CostTreeSearchNoPruning : CostTreeSearch
//{
//    public CostTreeSearchNoPruning(HeuristicCalculator heuristic)
//        : base(new CostTreeSearchSolverNoPruning(), heuristic) { }

//    public override string GetName() { return "ICTS " + "+ID "; }

//}

//class CostTreeSearchKMatch : CostTreeSearch
//{
//    int maxGroupChecked;
//    public CostTreeSearchKMatch(int maxGroupChecked, HeuristicCalculator heuristic)
//        : base(new CostTreeSearchSolverKMatch(maxGroupChecked), heuristic) { this.maxGroupChecked = maxGroupChecked; }


//    public override string GetName() { return "ICTS " + maxGroupChecked + "S+ID "; }

//}

//class CostTreeSearchRepeatedMatch : CostTreeSearch
//{
//    int sycSize;
//    public CostTreeSearchRepeatedMatch(int sycSize, HeuristicCalculator heuristic)
//        : base(new CostTreeSearchSolverRepeatedMatch(sycSize), heuristic) { this.sycSize = sycSize; }

//    public override string GetName() { return "ICTS " + sycSize + "RE+ID "; }
//}