public Plan generatePlan(Vehicle vehicle) {
int vehicleId = vehicle.id();
City current = vehicle.getCurrentCity();
Plan p = new Plan(current);
List<ExtendedTask> tasks = solution.get(vehicleId);
City intermediateCity = current;
for (ExtendedTask t : tasks) {
City nextDestination = t.isPickup() ? t.getT().pickupCity : t.getT().deliveryCity;
for (City c : intermediateCity.pathTo(nextDestination)) {
p.appendMove(c);
}
if (t.isPickup()) p.appendPickup(t.getT());
else p.appendDelivery(t.getT());
intermediateCity = nextDestination;
}
return p;
}
/**
* A* algorithm
*
* @param vehicle the considered vehicle
* @param available the available tasks of the world
* @param carried the tasks picked up and currently carried by the vehicle
* @return a plan (list of actions)
*/
public static Plan computeAStar(Vehicle vehicle, TaskSet available, TaskSet carried) {
Plan plan = null;
ArrayList<Task> availableTasks = new ArrayList<Task>(available);
ArrayList<Task> carriedTasks = new ArrayList<Task>(carried);
PriorityQueue<State> Q =
new PriorityQueue<State>(1, new StateComparator()); // States we will have to visit
ArrayList<State> C = new ArrayList<State>(); // States we have already visited, prevent cycles
City initialCity = vehicle.getCurrentCity();
State initialState =
new State(
initialCity, availableTasks, carriedTasks, new ArrayList<Action>(), vehicle, 0, 0);
Q.add(initialState);
boolean foundFinalState = false;
State finalState = null;
while (!foundFinalState) {
if (Q.isEmpty()) {
foundFinalState = true;
} else {
State visitingState = Q.poll();
if (visitingState.isFinal()) {
finalState = visitingState;
foundFinalState = true;
} else if (!C.contains(visitingState)
|| (C.contains(visitingState)
&& C.get(C.indexOf(visitingState)).heuristicValue > visitingState.heuristicValue)) {
C.add(visitingState);
Q.addAll(visitingState.next()); // Hopefully at the end of the list
}
}
}
if (finalState != null) {
plan = new Plan(vehicle.getCurrentCity(), finalState.actionList);
}
return plan;
}
private State computeInitialState(Vehicle vehicle, TaskSet tasks) {
List<City> listTasksCities = new ArrayList<Topology.City>();
List<Boolean> isDeliver = new ArrayList<Boolean>();
for (Task task : tasks) {
listTasksCities.add(task.pickupCity);
isDeliver.add(false);
}
return new State(vehicle.getCurrentCity(), tasks, isDeliver);
}
private Plan BFSPlan(Vehicle vehicle, TaskSet tasks) {
City current = vehicle.getCurrentCity();
Plan plan = new Plan(current);
System.out.println("Compute BFS for vehicle :" + vehicle.id());
System.out.println(tasks.toString());
// Initialize states
State initialState = computeInitialState(vehicle, tasks);
List<State> finalStates = computeFinalStates(vehicle, tasks);
// Build the tree
return plan;
}
private Plan naivePlan(Vehicle vehicle, TaskSet tasks) {
City current = vehicle.getCurrentCity();
Plan plan = new Plan(current);
System.out.println("Compute naivePlan for vehicle :" + vehicle.id());
System.out.println(tasks.toString());
for (Task task : tasks) {
// move: current city => pickup location
for (City city : current.pathTo(task.pickupCity)) plan.appendMove(city);
plan.appendPickup(task);
// move: pickup location => delivery location
for (City city : task.path()) plan.appendMove(city);
plan.appendDelivery(task);
// set current city
current = task.deliveryCity;
}
return plan;
}
private double distance(Vehicle v, Action a) {
return (v == null || a == null) ? 0 : v.getCurrentCity().distanceTo(a.actionCity);
}
