IndependenceDetectionConflict.cs


namespace mapf;

/// <summary>
/// This class represents a conflict between two groups of agents in Trevor Standley's
/// Indepedence Detection algorithm.
/// </summary>
class IndependenceDetectionConflict
{
    public IndependenceDetectionAgentsGroup group1;
    public IndependenceDetectionAgentsGroup group2;
    public int time;

    public override string ToString()
    {
        return $"conflict in time {time} between {group1} and {group2}";
    }

    public IndependenceDetectionConflict(IndependenceDetectionAgentsGroup group1, IndependenceDetectionAgentsGroup group2, int time)
    {
        this.group1 = group1;
        this.group2 = group2;
        this.time = time;
    }
    public override bool Equals(object obj)
    {
        if (obj == null)
            return false;
        IndependenceDetectionConflict other = (IndependenceDetectionConflict)obj;
        if (this.group1.Equals(other.group1) && this.group2.Equals(other.group2))
            return true; // Ignoring time, not ignoring order of groups.
        return false;
    }

    public override int GetHashCode()
    {
        unchecked
        {
            return this.group1.GetHashCode() + 3 * this.group2.GetHashCode();
        }
    }
}