コード例 #1
0
    def solve(self, problem_instance, verbose=False, return_infos=False):
        """
        Solve the given MAPF problem with the Cooperative A* algorithm and it returns, if exists, a solution.
        :param problem_instance: instance of the problem to solve.
        :param verbose: if True, infos will be printed on terminal.
        :param return_infos: if True in addition to the paths will be returned also a structure with output infos.
        :return the solution as list of paths, and, if return_infos is True, a tuple composed by the solution and a
        struct with output information.
        """
        self._stop_event = Event()
        start = time.time()

        thread = Thread(target=self.solve_problem,
                        args=(
                            problem_instance,
                            verbose,
                        ))
        thread.start()
        thread.join(timeout=self._solver_settings.get_time_out())
        self._stop_event.set()

        soc = calculate_soc(self._solution,
                            self._solver_settings.stay_at_goal(),
                            self._solver_settings.get_goal_occupation_time())
        makespan = calculate_makespan(
            self._solution, self._solver_settings.stay_at_goal(),
            self._solver_settings.get_goal_occupation_time())

        output_infos = self.generate_output_infos(soc, makespan, 0, 0,
                                                  time.time() - start)
        if verbose:
            print("Problem ended: ", output_infos)

        return self._solution if not return_infos else (self._solution,
                                                        output_infos)
コード例 #2
0
 def calculate_cost(self):
     """
     Compute the cost of the solution based on the objective function we are minimizing.
     :return:
     """
     if self._solver_settings.get_objective_function() == "SOC":
         return calculate_soc(
             self._solution, self._solver_settings.stay_at_goal(),
             self._solver_settings.get_goal_occupation_time())
     if self._solver_settings.get_objective_function() == "Makespan":
         return calculate_makespan(
             self._solution, self._solver_settings.stay_at_goal(),
             self._solver_settings.get_goal_occupation_time())