Input/Output fixes

Author: Anton Andreychuk

CBS-SIPP.pro

@@ -3,7 +3,6 @@ CONFIG += console c++11
 CONFIG -= app_bundle
 CONFIG -= qt
 TARGET = CCBS
-INCLUDEPATH += D:/boost_1_73_0
 win32 {
 QMAKE_LFLAGS += -static -static-libgcc -static-libstdc++
 }

Examples/config.xml

@@ -0,0 +1,13 @@
+<?xml version="1.0" ?>
+<root>
+	<algorithm>
+		<use_cardinal>true</use_cardinal>
+		<use_disjoint_splitting>true</use_disjoint_splitting>
+		<hlh_type>2</hlh_type>
+		<connectedness>3</connectedness>
+		<focal_weight>1.0</focal_weight>
+		<agent_size>0.353553</agent_size>
+		<timelimit>30</timelimit>
+		<precision>0.0000001</precision>
+	</algorithm>
+</root>

Examples/task_log.xml

@@ -134,11 +134,11 @@ Constraint CBS::get_wait_constraint(int agent, Move move1, Move move2)
     return Constraint(agent, interval.first, interval.second, move1.id1, move1.id2);
 }
 
-double CBS::get_hl_heuristic(const std::list<Conflict> &conflicts, bool simplex)
+double CBS::get_hl_heuristic(const std::list<Conflict> &conflicts)
 {
-    if(conflicts.empty() || CN_HLH_TYPE == 0)
+    if(conflicts.empty() || config.hlh_type == 0)
         return 0;
-    else if (CN_HLH_TYPE == 1 || simplex)
+    else if (config.hlh_type == 1)
     {
         optimization::Simplex simplex("simplex");
         std::map<int, int> colliding_agents;
@@ -265,8 +265,6 @@ Solution CBS::find_solution(const Map &map, const Task &task, const Config &cfg)
     int low_level_searches(0);
     int low_level_expanded(0);
     int id = 2;
-    double lp_h(0), dac_h(0);
-    int equal_h, total_h;
     do
     {
         auto parent = tree.get_front();
@@ -332,7 +330,7 @@ Solution CBS::find_solution(const Map &map, const Task &task, const Config &cfg)
         Constraint positive;
         bool inserted = false;
         bool left_ok = true, right_ok = true;
-        if(CN_USE_DS)
+        if(config.use_disjoint_splitting)
         {
             int agent1positives(0), agent2positives(0);
             for(auto c: constraintsA)

cbs.cpp

@@ -22,7 +22,7 @@ class CBS
     bool check_positive_constraints(std::list<Constraint> constraints, Constraint constraint);
     Conflict check_paths(const sPath &pathA, const sPath &pathB);
     bool check_conflict(Move move1, Move move2);
-    double get_hl_heuristic(const std::list<Conflict> &conflicts, bool simplex = false);
+    double get_hl_heuristic(const std::list<Conflict> &conflicts);
     std::vector<Conflict> get_all_conflicts(const std::vector<sPath> &paths, int id);
     Constraint get_constraint(int agent, Move move1, Move move2);
     Constraint get_wait_constraint(int agent, Move move1, Move move2);

cbs.h

@@ -68,7 +68,7 @@ void Config::getConfig(const char *fileName)
         {
             use_cardinal = true;
         }
-        if(value.compare("false") == 0 || value.compare("0") == 0)
+        else if(value.compare("false") == 0 || value.compare("0") == 0)
         {
             use_cardinal = false;
         }
@@ -78,30 +78,28 @@ void Config::getConfig(const char *fileName)
             use_cardinal = CN_USE_CARDINAL;
         }
     }
-    if(use_cardinal == true)
+
+    element = algorithm->FirstChildElement("use_disjoint_splitting");
+    if (!element)
+    {
+        std::cout << "Error! No 'use_disjoint_splitting' element found inside '"<<CNS_TAG_ALGORITHM<<"' section. It's compared to '"<<CN_USE_DS<<"'."<<std::endl;
+        use_disjoint_splitting = CN_USE_DS;
+    }
+    else
     {
-        element = algorithm->FirstChildElement("cache_paths");
-        if (!element)
+        std::string value = element->GetText();
+        if(value.compare("true") == 0 || value.compare("1") == 0)
+        {
+            use_disjoint_splitting = true;
+        }
+        else if(value.compare("false") == 0 || value.compare("0") == 0)
         {
-            std::cout << "Error! No 'cache_paths' element found inside '"<<CNS_TAG_ALGORITHM<<"' section. It's compared to '"<<CN_CACHE_PATHS<<"'."<<std::endl;
-            use_cardinal = CN_CACHE_PATHS;
+            use_disjoint_splitting = false;
         }
         else
         {
-            std::string value = element->GetText();
-            if(value.compare("true") == 0 || value.compare("1") == 0)
-            {
-                cache_paths = true;
-            }
-            if(value.compare("false") == 0 || value.compare("0") == 0)
-            {
-                cache_paths = false;
-            }
-            else
-            {
-                std::cout << "Error! Wrong 'cache_paths' value found inside '"<<CNS_TAG_ALGORITHM<<"' section. It's compared to '"<<CN_CACHE_PATHS<<"'."<<std::endl;
-                cache_paths = CN_CACHE_PATHS;
-            }
+            std::cout << "Error! Wrong 'use_disjoint_splitting' element found inside '"<<CNS_TAG_ALGORITHM<<"' section. It's compared to '"<<CN_USE_DS<<"'."<<std::endl;
+            use_disjoint_splitting = CN_USE_DS;
         }
     }
 
@@ -139,7 +137,7 @@ void Config::getConfig(const char *fileName)
         if(focal_weight < 1.0)
         {
             std::cout << "Error! Wrong 'focal_weight' value found inside '"<<CNS_TAG_ALGORITHM<<"' section. It's compared to '"<<CN_FOCAL_WEIGHT<<"'."<<std::endl;
-            connectdness = CN_CONNECTEDNESS;
+            focal_weight = CN_FOCAL_WEIGHT;
         }
         stream.clear();
         stream.str("");
@@ -165,6 +163,26 @@ void Config::getConfig(const char *fileName)
         stream.str("");
     }
 
+    element = algorithm->FirstChildElement("hlh_type");
+    if (!element)
+    {
+        std::cout << "Error! No 'hlh_type' element found inside '"<<CNS_TAG_ALGORITHM<<"' section. It's compared to '"<<CN_HLH_TYPE<<"'."<<std::endl;
+        hlh_type = CN_HLH_TYPE;
+    }
+    else
+    {
+        auto value = element->GetText();
+        stream<<value;
+        stream>>hlh_type;
+        if(hlh_type < 0 || hlh_type > 2)
+        {
+            std::cout << "Error! Wrong 'hlh_type' value found inside '"<<CNS_TAG_ALGORITHM<<"' section. It's compared to '"<<CN_HLH_TYPE<<"'."<<std::endl;
+            hlh_type = CN_HLH_TYPE;
+        }
+        stream.clear();
+        stream.str("");
+    }
+
     element = algorithm->FirstChildElement("timelimit");
     if (!element)
     {

config.cpp

@@ -15,7 +15,8 @@ class Config
     double  precision;
     double  focal_weight;
     bool    use_cardinal;
-    bool    cache_paths;
+    bool    use_disjoint_splitting;
+    int     hlh_type;
     int     connectdness;
     double  agent_size;
     double  timelimit;

config.h

@@ -1,15 +1,14 @@
 #ifndef CONST_H
 #define CONST_H
 
-#define CN_USE_CARDINAL  1
-#define CN_CACHE_PATHS   0
-#define CN_HLH_TYPE      0
-#define CN_USE_DS        0
+#define CN_USE_CARDINAL  0 //1 - true, 0 - false
+#define CN_HLH_TYPE      0 // 0 - no hlh, 1 - solve lpp by simplex, 2 - greedly take disjoint conflicts
+#define CN_USE_DS        0 //1 - true, 0 - false
 #define CN_TIMELIMIT     30 // in seconds
 #define CN_AGENT_SIZE    sqrt(2.0)/4.0 //radius; only values in range (0; 0.5] are supported
-#define CN_CONNECTEDNESS 2
-#define CN_PRECISION     0.00001
-#define CN_FOCAL_WEIGHT  1.0
+#define CN_CONNECTEDNESS 2 // possible variants 2,3,4,5
+#define CN_PRECISION     1e-6
+#define CN_FOCAL_WEIGHT  1.0 // experimental function, focal is supported only on the high-level
 #define CN_OBSTL         1
 #define CN_EPSILON       1e-8
 #define CN_INFINITY		 1e+8
@@ -50,6 +49,7 @@
     #define CNS_TAG_ATTR_NUMOFSTEPS     "numberofsteps"
     #define CNS_TAG_ATTR_NODESCREATED   "totalnodescreated"
     #define CNS_TAG_ATTR_LENGTH         "length"
+    #define CNS_TAG_ATTR_DURATION       "duration"
     #define CNS_TAG_ATTR_PATHLENGTH     "pathlength"
     #define CNS_TAG_ATTR_TIME           "time"
     #define CNS_TAG_ATTR_X              "x"

const.h

@@ -23,12 +23,12 @@ int main(int argc, const char *argv[])
         CBS cbs;
         Solution solution = cbs.find_solution(map, task, config);
         XML_logger logger;
-        std::cout<< "Runtime: "<<solution.time.count() << "\nMakespan: " << solution.makespan << "\nFlowtime:" << solution.flowtime<< "\nInitial Cost: "<<solution.init_cost<< "\nCollision Checking Time: " << solution.check_time
+        std::cout<< "Runtime: "<<solution.time.count() << "\nMakespan: " << solution.makespan << "\nFlowtime: " << solution.flowtime<< "\nInitial Cost: "<<solution.init_cost<< "\nCollision Checking Time: " << solution.check_time
              << "\nHL expanded: " << solution.high_level_expanded << "\nLL searches: " << solution.low_level_expansions << "\nLL expanded(avg): " << solution.low_level_expanded << std::endl;
 
         logger.get_log(argv[2]);
         logger.write_to_log_summary(solution);
-        logger.write_to_log_path(solution);
+        logger.write_to_log_path(solution, map);
         logger.save_log();
     }
     else

main.cpp

@@ -59,12 +59,12 @@ void XML_logger::write_to_log_summary(const Solution &solution)
     element->SetAttribute(CNS_TAG_ATTR_MAKESPAN, solution.makespan);
 }
 
-void XML_logger::write_to_log_path(const Solution &solution)
+void XML_logger::write_to_log_path(const Solution &solution, const Map &map)
 {
     tinyxml2::XMLElement *element=doc->FirstChildElement(CNS_TAG_ROOT);
     element = element->FirstChildElement(CNS_TAG_LOG);
 
-    tinyxml2::XMLElement *agent, *path, *hplevel;
+    tinyxml2::XMLElement *agent, *path;
 
     for(int i = 0; i < int(solution.paths.size()); i++)
     {
@@ -73,36 +73,36 @@ void XML_logger::write_to_log_path(const Solution &solution)
         element->LinkEndChild(agent);
 
         path = doc->NewElement(CNS_TAG_PATH);
-        path->SetAttribute(CNS_TAG_ATTR_NUM, i);
-        path->SetAttribute(CNS_TAG_ATTR_LENGTH, solution.paths[i].cost);
+        //path->SetAttribute(CNS_TAG_ATTR_NUM, i);
+        path->SetAttribute(CNS_TAG_ATTR_DURATION, solution.paths[i].cost);
         agent->LinkEndChild(path);
 
-        hplevel = doc->NewElement(CNS_TAG_HPLEVEL);
-        path->LinkEndChild(hplevel);
+        //hplevel = doc->NewElement(CNS_TAG_HPLEVEL);
+        //path->LinkEndChild(hplevel);
         auto iter = solution.paths[i].nodes.begin();
         auto it = solution.paths[i].nodes.begin();
         int partnumber(0);
         tinyxml2::XMLElement *part;
-        part = doc->NewElement(CNS_TAG_SECTION);
+        /*part = doc->NewElement(CNS_TAG_SECTION);
         part->SetAttribute(CNS_TAG_ATTR_NUM, partnumber);
-        //part->SetAttribute(CNS_TAG_ATTR_SX, it->j);
-        //part->SetAttribute(CNS_TAG_ATTR_SY, it->i);
-        //part->SetAttribute(CNS_TAG_ATTR_FX, iter->j);
-        //part->SetAttribute(CNS_TAG_ATTR_FY, iter->i);
+        part->SetAttribute(CNS_TAG_START_I, map.get_i(it->id));
+        part->SetAttribute(CNS_TAG_START_J, map.get_j(it->id));
+        part->SetAttribute(CNS_TAG_GOAL_I, map.get_i(iter->id));
+        part->SetAttribute(CNS_TAG_GOAL_J, map.get_j(iter->id));
         part->SetAttribute(CNS_TAG_ATTR_LENGTH, iter->g);
         hplevel->LinkEndChild(part);
-        partnumber++;
+        partnumber++;*/
         while(iter != std::prev(solution.paths[i].nodes.end()))
         {
             part = doc->NewElement(CNS_TAG_SECTION);
             part->SetAttribute(CNS_TAG_ATTR_NUM, partnumber);
-          //  part->SetAttribute(CNS_TAG_ATTR_SX, it->j);
-          //  part->SetAttribute(CNS_TAG_ATTR_SY, it->i);
+            part->SetAttribute(CNS_TAG_START_I, map.get_i(it->id));
+            part->SetAttribute(CNS_TAG_START_J, map.get_j(it->id));
             iter++;
-          //  part->SetAttribute(CNS_TAG_ATTR_FX, iter->j);
-          //  part->SetAttribute(CNS_TAG_ATTR_FY, iter->i);
-            part->SetAttribute(CNS_TAG_ATTR_LENGTH, iter->g - it->g);
-            hplevel->LinkEndChild(part);
+            part->SetAttribute(CNS_TAG_GOAL_I, map.get_i(iter->id));
+            part->SetAttribute(CNS_TAG_GOAL_J, map.get_j(iter->id));
+            part->SetAttribute(CNS_TAG_ATTR_DURATION, iter->g - it->g);
+            path->LinkEndChild(part);
             it++;
             partnumber++;
         }