private boolean branchAndBoundHelper(MetaVariable metaVariable) {
if (metaVariable == null) return false;
preBacktrack();
if (this.g.getRoot() == null) this.g.addVertex(currentVertex);
ConstraintNetwork cn = metaVariable.getConstraintNetwork();
logger.fine("Solving conflict: " + metaVariable);
ConstraintNetwork[] values = metaVariable.getMetaConstraint().getMetaValues(metaVariable);
if (metaVariable.getMetaConstraint().valOH != null)
Arrays.sort(values, metaVariable.getMetaConstraint().valOH);
if (values == null || values.length == 0) {
this.g.addEdge(new NullConstraintNetwork(null), currentVertex, new TerminalNode(false));
logger.fine("Failure... (1)");
} else {
for (ConstraintNetwork value : values) {
if (animationTime != 0) {
try {
Thread.sleep(animationTime);
} catch (InterruptedException e) {
e.printStackTrace();
}
}
logger.fine("Trying value: " + Arrays.toString(value.getConstraints()));
if (hasConflictClause(value)) continue;
this.addResolver(cn, value);
setUpperBound();
// System.out.println("test: " + "U: " + getUpperBound() + " L: " + getLowerBound());
if (getUpperBound() <= getLowerBound()) {
this.retractResolver(cn, value);
continue;
}
logger.fine("Success...");
metaVariable.getMetaConstraint().markResolvedSub(metaVariable, value);
MetaVariable newCon = this.getConflict();
if (newCon != null) {
this.g.addEdge(value, currentVertex, newCon);
currentVertex = newCon;
}
if (newCon == null) setLowerBound();
if (branchAndBoundHelper(newCon)) return true;
logger.fine("Retracting value: " + Arrays.toString(value.getConstraints()));
this.retractResolver(cn, value);
logger.fine("Failure... (2)");
}
}
resetFalseClause();
logger.fine("Backtracking...");
currentVertex = this.g.getParent(currentVertex);
postBacktrack(metaVariable);
return false;
}
/**
* Retract all resolvers added to the ground-CSP(s) in order to obtain the current solution to the
* meta-CSP. This is useful if one wants to "reset" the meta-CSP to its original unsolved state.
*/
public void retractResolvers() {
Set<ConstraintNetwork> vars = resolvers.keySet();
for (ConstraintNetwork var : vars) {
ConstraintNetwork value = resolvers.get(var);
logger.fine("=== ||| === Retracting value: " + Arrays.toString(value.getConstraints()));
this.retractResolver(var, value);
}
this.resolvers = new HashMap<ConstraintNetwork, ConstraintNetwork>();
this.resolversInverseMapping = new HashMap<ConstraintNetwork, ConstraintNetwork>();
this.metaVarsToMetaCons.clear();
}
protected final boolean addResolver(
ConstraintNetwork metaVarConstraintNetwork, ConstraintNetwork resolverNetwork) {
if (!this.addResolverSub(metaVarConstraintNetwork, resolverNetwork)) return false;
Constraint[] resolverNetworkConstraints = resolverNetwork.getConstraints();
HashMap<ConstraintSolver, Vector<Constraint>> solvers2constraints =
new HashMap<ConstraintSolver, Vector<Constraint>>();
for (Constraint c : resolverNetworkConstraints) {
if (!solvers2constraints.containsKey(c.getScope()[0].getConstraintSolver())) {
Vector<Constraint> newVec = new Vector<Constraint>();
solvers2constraints.put(c.getScope()[0].getConstraintSolver(), newVec);
}
solvers2constraints.get(c.getScope()[0].getConstraintSolver()).add(c);
}
Vector<Constraint[]> addedConstraints = new Vector<Constraint[]>();
for (ConstraintSolver cs : solvers2constraints.keySet()) {
Constraint[] toAddOneSolver =
solvers2constraints.get(cs).toArray(new Constraint[solvers2constraints.get(cs).size()]);
if (cs.addConstraints(toAddOneSolver)) addedConstraints.add(toAddOneSolver);
else {
for (Constraint[] toDel : addedConstraints) {
toDel[0].getScope()[0].getConstraintSolver().removeConstraints(toDel);
}
this.retractResolverSub(metaVarConstraintNetwork, resolverNetwork);
return false;
}
}
return true;
}
public static void main(String[] args) {
MetaCSPLogging.setLevel(Level.FINEST);
String[] symbols = new String[] {"B1", "B2", "B3", "B4", "B5"};
SymbolicVariableConstraintSolver solver =
new SymbolicVariableConstraintSolver(symbols, 100, true);
solver.setSingleValue(false);
int numRobots = 3;
Variable[] vars = new Variable[numRobots];
for (int i = 0; i < numRobots; i++) vars[i] = solver.createVariable("Robot" + i);
ConstraintNetwork.draw(solver.getConstraintNetwork());
((SymbolicVariable) vars[0]).setDomain(new String[] {"B1", "B2", "B3"});
// SymbolicValueConstraint con01 = new SymbolicValueConstraint(Type.UNARYEQUALS);
// con01.setUnaryValue(new boolean[] {true, true, false, false, false});
// con01.setFrom(vars[0]);
// con01.setTo(vars[0]);
((SymbolicVariable) vars[1]).setDomain(new String[] {"B2", "B3", "B4"});
// SymbolicValueConstraint con02 = new SymbolicValueConstraint(Type.UNARYEQUALS);
// con02.setUnaryValue(new boolean[] {false, true, true, false, false});
// con02.setFrom(vars[1]);
// con02.setTo(vars[1]);
((SymbolicVariable) vars[2]).setDomain(new String[] {"B3"});
// SymbolicValueConstraint con03 = new SymbolicValueConstraint(Type.UNARYEQUALS);
// con03.setUnaryValue(new boolean[] {false, false, true, false, false});
// con03.setFrom(vars[2]);
// con03.setTo(vars[2]);
// alldifferent constraint
SymbolicValueConstraint con = new SymbolicValueConstraint(Type.DIFFERENT);
con.setScope(vars);
try {
Thread.sleep(1000);
} catch (InterruptedException e) {
e.printStackTrace();
}
System.out.println("Added constraints? " + solver.addConstraint(con));
try {
Thread.sleep(1000);
} catch (InterruptedException e) {
e.printStackTrace();
}
Variable varUnion1 = SymbolicVariableConstraintSolver.union(vars);
System.out.println("Union of all vars (2): " + varUnion1);
Variable varIntersection1 = SymbolicVariableConstraintSolver.intersection(vars);
System.out.println("Intersection of all vars (2): " + varIntersection1);
}
public Sensor(String name, ConstraintNetworkAnimator animator) {
this.animator = animator;
this.ans = animator.getActivityNetworkSolver();
this.cn = animator.getConstraintNetwork();
this.name = name;
for (Variable timeAct : cn.getVariables("Time")) {
if (((SymbolicVariableActivity) timeAct)
.getSymbolicVariable()
.getSymbols()[0]
.equals("Future")) future = (SymbolicVariableActivity) timeAct;
}
}
protected final void retractResolver(ConstraintNetwork metaVar, ConstraintNetwork res) {
this.logger.finest("Retracting resolver:");
this.logger.finest(" MetaVariable: " + metaVar.toString());
this.logger.finest(" MetaValue: " + res.toString());
Constraint[] groundConstraints = res.getConstraints();
HashMap<ConstraintSolver, Vector<Constraint>> solvers2constraints =
new HashMap<ConstraintSolver, Vector<Constraint>>();
for (Constraint c : groundConstraints) {
if (!solvers2constraints.containsKey(c.getScope()[0].getConstraintSolver())) {
Vector<Constraint> newVec = new Vector<Constraint>();
solvers2constraints.put(c.getScope()[0].getConstraintSolver(), newVec);
}
solvers2constraints.get(c.getScope()[0].getConstraintSolver()).add(c);
}
for (ConstraintSolver cs : solvers2constraints.keySet()) {
Constraint[] toAddOneSolver =
solvers2constraints.get(cs).toArray(new Constraint[solvers2constraints.get(cs).size()]);
cs.removeConstraints(toAddOneSolver);
}
this.retractResolverSub(metaVar, res);
this.logger.finest("Done retracting resolver.");
}
public static void main(String[] args) {
String[] symbols = new String[] {"mug1", "mug2", "mug3"};
NameMatchingConstraintSolver solver = new NameMatchingConstraintSolver(symbols);
ConstraintNetwork.draw(solver.getConstraintNetwork());
NameVariable[] vars = (NameVariable[]) solver.createVariables(5);
vars[0].setConstant("mug1");
// vars[3].setConstant("mug2");
NameMatchingConstraint con01 = new NameMatchingConstraint(Type.EQUALS);
con01.setFrom(vars[0]);
con01.setTo(vars[1]);
System.out.println("n0: " + vars[0]);
System.out.println("n1 ground? " + vars[1] + vars[1].isGround());
// System.out.println("n2 ground? " + vars[2] + vars[2].isGround());
System.out.println("Add con01: " + solver.addConstraint(con01));
System.out.println("Removing con01: ");
solver.removeConstraint(con01);
System.out.println("n1 ground? " + vars[1] + " " + vars[1].isGround()); // Should not be ground
// NameMatchingConstraint con12 = new NameMatchingConstraint(Type.EQUALS);
// con12.setFrom(vars[1]);
// con12.setTo(vars[2]);
//// NameMatchingConstraint con23Equals = new NameMatchingConstraint(Type.EQUALS);
//// con23Equals.setFrom(vars[2]);
//// con23Equals.setTo(vars[3]);
//// System.out.println("Add con12 + con23?" + solver.addConstraints(new Constraint[] {con12,
// con23Equals}));
//
//
// NameMatchingConstraint con23Different = new NameMatchingConstraint(Type.DIFFERENT);
// con23Different.setFrom(vars[2]);
// con23Different.setTo(vars[3]);
// System.out.println("Add con12 + con23?" + solver.addConstraints(new Constraint[] {con12,
// con23Different}));
}
/** @param args */
public static void main(String[] args) {
MetaCSPLogging.setLevel(TimelinePublisher.class, Level.FINEST);
SimplePlanner planner = new SimplePlanner(0, 600, 0);
// This is a pointer toward the ActivityNetwork solver of the Scheduler
ActivityNetworkSolver groundSolver = (ActivityNetworkSolver) planner.getConstraintSolvers()[0];
MetaCSPLogging.setLevel(planner.getClass(), Level.FINE);
// MetaCSPLogging.setLevel(Level.FINEST);
// MetaCSPLogging.setLevel(planner.getClass(), Level.FINE);
SimpleDomain rd = new SimpleDomain(new int[] {2}, new String[] {"arm"}, "TestDomain");
AllenIntervalConstraint atCupAfterPlace =
new AllenIntervalConstraint(
AllenIntervalConstraint.Type.After,
AllenIntervalConstraint.Type.After.getDefaultBounds());
AllenIntervalConstraint atCup1Duration =
new AllenIntervalConstraint(
AllenIntervalConstraint.Type.Duration, new Bounds(10, APSPSolver.INF));
AllenIntervalConstraint placeCupAfterholding =
new AllenIntervalConstraint(
AllenIntervalConstraint.Type.After,
AllenIntervalConstraint.Type.After.getDefaultBounds());
AllenIntervalConstraint placeCup1Duration =
new AllenIntervalConstraint(
AllenIntervalConstraint.Type.Duration, new Bounds(10, APSPSolver.INF));
AllenIntervalConstraint holdingCupAfterPick =
new AllenIntervalConstraint(
AllenIntervalConstraint.Type.After,
AllenIntervalConstraint.Type.After.getDefaultBounds());
AllenIntervalConstraint holdingCup1Duration =
new AllenIntervalConstraint(
AllenIntervalConstraint.Type.Duration, new Bounds(10, APSPSolver.INF));
AllenIntervalConstraint pickCup1Duration =
new AllenIntervalConstraint(
AllenIntervalConstraint.Type.Duration, new Bounds(10, APSPSolver.INF));
AllenIntervalConstraint atKnifeAfterPlace =
new AllenIntervalConstraint(
AllenIntervalConstraint.Type.After,
AllenIntervalConstraint.Type.After.getDefaultBounds());
AllenIntervalConstraint atKnife1Duration =
new AllenIntervalConstraint(
AllenIntervalConstraint.Type.Duration, new Bounds(10, APSPSolver.INF));
AllenIntervalConstraint placeKnifeAfterholding =
new AllenIntervalConstraint(
AllenIntervalConstraint.Type.After,
AllenIntervalConstraint.Type.After.getDefaultBounds());
AllenIntervalConstraint placeKnife1Duration =
new AllenIntervalConstraint(
AllenIntervalConstraint.Type.Duration, new Bounds(10, APSPSolver.INF));
AllenIntervalConstraint holdingKnifeAfterPick =
new AllenIntervalConstraint(
AllenIntervalConstraint.Type.After,
AllenIntervalConstraint.Type.After.getDefaultBounds());
AllenIntervalConstraint holdingKnife1Duration =
new AllenIntervalConstraint(
AllenIntervalConstraint.Type.Duration, new Bounds(10, APSPSolver.INF));
AllenIntervalConstraint pickKnife1Duration =
new AllenIntervalConstraint(
AllenIntervalConstraint.Type.Duration, new Bounds(10, APSPSolver.INF));
AllenIntervalConstraint atForkAfterPlace =
new AllenIntervalConstraint(
AllenIntervalConstraint.Type.After,
AllenIntervalConstraint.Type.After.getDefaultBounds());
AllenIntervalConstraint atFork1Duration =
new AllenIntervalConstraint(
AllenIntervalConstraint.Type.Duration, new Bounds(10, APSPSolver.INF));
AllenIntervalConstraint placeForkAfterholding =
new AllenIntervalConstraint(
AllenIntervalConstraint.Type.After,
AllenIntervalConstraint.Type.After.getDefaultBounds());
AllenIntervalConstraint placeFork1Duration =
new AllenIntervalConstraint(
AllenIntervalConstraint.Type.Duration, new Bounds(10, APSPSolver.INF));
AllenIntervalConstraint holdingForkAfterPick =
new AllenIntervalConstraint(
AllenIntervalConstraint.Type.After,
AllenIntervalConstraint.Type.After.getDefaultBounds());
AllenIntervalConstraint holdingFork1Duration =
new AllenIntervalConstraint(
AllenIntervalConstraint.Type.Duration, new Bounds(10, APSPSolver.INF));
AllenIntervalConstraint pickFork1Duration =
new AllenIntervalConstraint(
AllenIntervalConstraint.Type.Duration, new Bounds(10, APSPSolver.INF));
SimpleOperator operator1 =
new SimpleOperator(
"robot1::at_cup1_table1()",
new AllenIntervalConstraint[] {atCupAfterPlace},
new String[] {"robot1::place_cup1_table1(arm)"},
new int[] {1});
operator1.addConstraint(atCup1Duration, 0, 0);
rd.addOperator(operator1);
SimpleOperator operator2 =
new SimpleOperator(
"robot1::place_cup1_table1(arm)",
new AllenIntervalConstraint[] {placeCupAfterholding},
new String[] {"robot1::holding_cup1(arm)"},
new int[] {1});
operator2.addConstraint(placeCup1Duration, 0, 0);
rd.addOperator(operator2);
SimpleOperator operator3 =
new SimpleOperator(
"robot1::holding_cup1(arm)",
new AllenIntervalConstraint[] {holdingCupAfterPick},
new String[] {"robot1::pick_cup1(arm)"},
new int[] {1});
operator3.addConstraint(holdingCup1Duration, 0, 0);
rd.addOperator(operator3);
SimpleOperator operator1res =
new SimpleOperator("robot1::pick_cup1(arm)", null, null, new int[] {1});
operator1res.addConstraint(pickCup1Duration, 0, 0);
rd.addOperator(operator1res);
// ........................
SimpleOperator operator4 =
new SimpleOperator(
"robot1::at_knife1_table1()",
new AllenIntervalConstraint[] {atKnifeAfterPlace},
new String[] {"robot1::place_knife1_table1(arm)"},
new int[] {1});
operator4.addConstraint(atKnife1Duration, 0, 0);
rd.addOperator(operator4);
SimpleOperator operator5 =
new SimpleOperator(
"robot1::place_knife1_table1(arm)",
new AllenIntervalConstraint[] {placeKnifeAfterholding},
new String[] {"robot1::holding_knife1(arm)"},
new int[] {1});
operator5.addConstraint(placeKnife1Duration, 0, 0);
rd.addOperator(operator5);
SimpleOperator operator6 =
new SimpleOperator(
"robot1::holding_knife1(arm)",
new AllenIntervalConstraint[] {holdingKnifeAfterPick},
new String[] {"robot1::pick_knife1(arm)"},
new int[] {1});
operator6.addConstraint(holdingKnife1Duration, 0, 0);
rd.addOperator(operator6);
SimpleOperator operator2res =
new SimpleOperator("robot1::pick_knife1(arm)", null, null, new int[] {1});
operator2res.addConstraint(pickKnife1Duration, 0, 0);
rd.addOperator(operator2res);
// ........................
SimpleOperator operator7 =
new SimpleOperator(
"robot1::at_fork_table1()",
new AllenIntervalConstraint[] {atForkAfterPlace},
new String[] {"robot1::place_fork1_table1(arm)"},
new int[] {1});
operator7.addConstraint(atFork1Duration, 0, 0);
rd.addOperator(operator7);
SimpleOperator operator8 =
new SimpleOperator(
"robot1::place_fork1_table1(arm)",
new AllenIntervalConstraint[] {placeForkAfterholding},
new String[] {"robot1::holding_fork1(arm)"},
new int[] {1});
operator8.addConstraint(placeFork1Duration, 0, 0);
rd.addOperator(operator8);
SimpleOperator operator9 =
new SimpleOperator(
"robot1::holding_fork1(arm)",
new AllenIntervalConstraint[] {holdingForkAfterPick},
new String[] {"robot1::pick_fork1(arm)"},
new int[] {1});
operator9.addConstraint(holdingFork1Duration, 0, 0);
rd.addOperator(operator9);
SimpleOperator operator3res =
new SimpleOperator("robot1::pick_fork1(arm)", null, null, new int[] {1});
operator3res.addConstraint(pickFork1Duration, 0, 0);
rd.addOperator(operator3res);
// This adds the domain as a meta-constraint of the SimplePlanner
planner.addMetaConstraint(rd);
// ... and we also add all its resources as separate meta-constraints
MetaCSPLogging.setLevel(Schedulable.class, Level.FINEST);
for (Schedulable sch : rd.getSchedulingMetaConstraints()) planner.addMetaConstraint(sch);
// INITIAL AND GOAL STATE DEFS
Activity three = (Activity) groundSolver.createVariable("robot1");
three.setSymbolicDomain("at_knife1_table1()");
three.setMarking(markings.UNJUSTIFIED);
Activity one = (Activity) groundSolver.createVariable("robot1");
one.setSymbolicDomain("at_cup1_table1()");
one.setMarking(markings.UNJUSTIFIED);
Activity two = (Activity) groundSolver.createVariable("robot1");
two.setSymbolicDomain("at_fork1_table1()");
two.setMarking(markings.UNJUSTIFIED);
planner.backtrack();
TimelinePublisher tp = new TimelinePublisher(groundSolver, new Bounds(0, 100), "robot1");
// TimelinePublisher can also be instantiated w/o bounds, in which case the bounds are
// calculated every time publish is called
// TimelinePublisher tp = new TimelinePublisher(groundSolver, "Robot1", "Robot2",
// "LocalizationService", "RFIDReader1", "LaserScanner1");
TimelineVisualizer viz = new TimelineVisualizer(tp);
tp.publish(false, false);
// the following call is marked as "skippable" and will most likely be skipped because the
// previous call has not finished rendering...
tp.publish(false, true);
ConstraintNetwork.draw(groundSolver.getConstraintNetwork(), "Constraint Network");
planner.draw();
tp.publish(true, false);
}
/**
* This backtrack method uses serialization to back up {@link ConstraintNetwork}s before
* branching. This allows to backtrack without propagation - but is very memory intensive. In
* practice, this does not work on reasonably sized problems.
*/
private boolean backtrackHelperWithSerialization(MetaVariable metaVariable) {
preBacktrack();
if (this.g.getRoot() == null) this.g.addVertex(currentVertex);
ConstraintNetwork mostProblematicNetwork = metaVariable.getConstraintNetwork();
logger.fine("Solving conflict: " + metaVariable);
ConstraintNetwork[] values = metaVariable.getMetaConstraint().getMetaValues(metaVariable);
if (metaVariable.getMetaConstraint().valOH != null && values != null)
Arrays.sort(values, metaVariable.getMetaConstraint().valOH);
if (values == null || values.length == 0) {
this.g.addEdge(new NullConstraintNetwork(null), currentVertex, new TerminalNode(false));
logger.fine("Failure (1)...");
} else {
for (ConstraintNetwork value : values) {
if (animationTime != 0) {
try {
Thread.sleep(animationTime);
} catch (InterruptedException e) {
e.printStackTrace();
}
}
String valString = "";
if (value.getVariables().length != 0)
valString += "Vars = " + Arrays.toString(value.getVariables());
if (value.getConstraints().length != 0)
valString += " Cons = " + Arrays.toString(value.getConstraints());
logger.fine("Trying value: " + valString);
this.backedUpCNs.add(backupCNs(this));
/** * PRINT INFO ** */
/*
long sizeOfBackup = 0;
for (HashMap<ConstraintSolver,byte[]> oneHM : backedUpCNs) {
for (byte[] oneCN : oneHM.values())
sizeOfBackup += oneCN.length;
}
DecimalFormat df = new DecimalFormat("#.##");
logger.info("Current backup size: " + df.format((sizeOfBackup/1024.00)) + " KB");
*/
/** * END PRINT INFO ** */
if (this.addResolver(mostProblematicNetwork, value)) {
this.resolvers.put(mostProblematicNetwork, value);
this.metaVarsToMetaCons.put(mostProblematicNetwork, metaVariable.getMetaConstraint());
this.resolversInverseMapping.put(value, mostProblematicNetwork);
this.counterMoves++;
logger.fine("Success...");
metaVariable.getMetaConstraint().markResolvedSub(metaVariable, value);
MetaVariable newConflict = this.getConflict();
if (newConflict == null || breakSearch) {
this.g.addEdge(value, currentVertex, new TerminalNode(true));
breakSearch = false;
return true;
}
// addEdege(e,v,v)
this.g.addEdge(value, currentVertex, newConflict);
currentVertex = newConflict;
if (backtrackHelper(newConflict)) return true;
logger.fine("Retracting value: " + Arrays.toString(value.getConstraints()));
// this.retractResolver(mostProblematicNetwork, value);
this.restoreCNs();
this.retractResolverSub(mostProblematicNetwork, value);
this.resolvers.remove(mostProblematicNetwork);
this.metaVarsToMetaCons.remove(mostProblematicNetwork);
this.resolversInverseMapping.remove(value);
this.counterMoves--;
} else {
this.g.addEdge(value, currentVertex, new TerminalNode(false));
logger.fine("Failure... (2)");
}
}
}
logger.fine("Backtracking...");
currentVertex = this.g.getParent(currentVertex);
postBacktrack(metaVariable);
return false;
}
private boolean backtrackHelper(MetaVariable metaVariable) {
preBacktrack();
if (this.g.getRoot() == null) this.g.addVertex(currentVertex);
ConstraintNetwork mostProblematicNetwork = metaVariable.getConstraintNetwork();
logger.fine("Solving conflict: " + metaVariable);
ConstraintNetwork[] values = metaVariable.getMetaConstraint().getMetaValues(metaVariable);
if (values != null) for (ConstraintNetwork value : values) value.setAnnotation(metaVariable);
if (metaVariable.getMetaConstraint().valOH != null && values != null) {
// System.out.println("SORTING with " + metaVariable.getMetaConstraint().valOH.getClass());
Arrays.sort(values, metaVariable.getMetaConstraint().valOH);
}
if (values == null || values.length == 0) {
this.g.addEdge(new NullConstraintNetwork(null), currentVertex, new TerminalNode(false));
logger.fine("Failure (1)...");
} else {
for (ConstraintNetwork value : values) {
if (animationTime != 0) {
try {
Thread.sleep(animationTime);
} catch (InterruptedException e) {
e.printStackTrace();
}
}
String valString = "";
if (value.getVariables().length != 0)
valString += "Vars = " + Arrays.toString(value.getVariables());
if (value.getConstraints().length != 0)
valString += " Cons = " + Arrays.toString(value.getConstraints());
logger.fine("Trying value: " + valString);
if (this.addResolver(mostProblematicNetwork, value)) {
this.resolvers.put(mostProblematicNetwork, value);
this.metaVarsToMetaCons.put(mostProblematicNetwork, metaVariable.getMetaConstraint());
this.resolversInverseMapping.put(value, mostProblematicNetwork);
this.counterMoves++;
logger.fine("Success...");
metaVariable.getMetaConstraint().markResolvedSub(metaVariable, value);
MetaVariable newConflict = this.getConflict();
if (newConflict == null || breakSearch) {
this.g.addEdge(value, currentVertex, new TerminalNode(true));
breakSearch = false;
return true;
}
// addEdege(e,v,v)
this.g.addEdge(value, currentVertex, newConflict);
currentVertex = newConflict;
if (backtrackHelper(newConflict)) return true;
logger.fine("Retracting value: " + Arrays.toString(value.getConstraints()));
this.retractResolver(mostProblematicNetwork, value);
this.resolvers.remove(mostProblematicNetwork);
this.metaVarsToMetaCons.remove(mostProblematicNetwork);
this.resolversInverseMapping.remove(value);
this.counterMoves--;
} else {
this.g.addEdge(value, currentVertex, new TerminalNode(false));
logger.fine("Failure... (2)");
}
}
}
logger.fine("Backtracking...");
currentVertex = this.g.getParent(currentVertex);
postBacktrack(metaVariable);
return false;
}
