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)
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())