static int htableEq(const bor_list_t *k1, const bor_list_t *k2, void *ud)
{
state_t *s1 = BOR_LIST_ENTRY(k1, state_t, htable);
state_t *s2 = BOR_LIST_ENTRY(k2, state_t, htable);
plan_ma_private_state_t *aps = (plan_ma_private_state_t *)ud;
return memcmp(s1->state, s2->state, aps->state_size) == 0;
}
bor_fibo_node_t *borFiboExtractMin(bor_fibo_t *f)
{
bor_list_t *item;
bor_fibo_node_t *min, *n;
if (!f->min)
return NULL;
min = f->min;
// put all children to root list
while (!borListEmpty(&min->children)){
item = borListNext(&min->children);
n = BOR_LIST_ENTRY(item, bor_fibo_node_t, list);
borListDel(item);
borListAppend(&f->root, item);
n->parent = NULL;
}
// remove minimum from root list
borListDel(&min->list);
__borFiboConsolidate(f);
return min;
}
static bor_real_t dist2(void *item1, bor_list_t *item2,
void *data)
{
bor_vec2_t *p = (bor_vec2_t *)item1;
el_t *el = BOR_LIST_ENTRY(item2, el_t, list);
return borVec2Dist(p, &el->w);
}
void planMAMsgTracePathAppendPath(plan_ma_msg_t *msg,
const plan_path_t *path)
{
bor_list_t *item;
const plan_path_op_t *p;
plan_ma_msg_op_t *op;
for (item = path->prev; item != path; item = item->prev){
p = BOR_LIST_ENTRY(item, plan_path_op_t, path);
op = planMAMsgAddOp(msg);
planMAMsgOpSetOpId(op, p->global_id);
planMAMsgOpSetCost(op, p->cost);
planMAMsgOpSetOwner(op, p->owner);
if (p->name)
planMAMsgOpSetName(op, p->name);
}
}
int planMAPrivateStateInsert(plan_ma_private_state_t *aps, int *state_ids)
{
state_t *state;
bor_list_t *hfound;
int *dst;
int i, j;
state = borExtArrGet(aps->states, aps->num_states);
dst = state->state;
for (i = 0, j = 0; i < aps->num_agents; ++i){
if (i != aps->agent_id)
dst[j++] = state_ids[i];
}
hfound = borHTableInsertUnique(aps->htable, &state->htable);
if (hfound == NULL){
aps->num_states++;
return state->id;
}else{
state = BOR_LIST_ENTRY(hfound, state_t, htable);
return state->id;
}
}
static bor_htable_key_t htableHash(const bor_list_t *key, void *ud)
{
state_t *state = BOR_LIST_ENTRY(key, state_t, htable);
plan_ma_private_state_t *aps = (plan_ma_private_state_t *)ud;
return borCityHash_64(state->state, aps->state_size);
}
static int eq(const bor_list_t *key1, const bor_list_t *key2, void *ud)
{
el_t *el1 = BOR_LIST_ENTRY(key1, el_t, htable);
el_t *el2 = BOR_LIST_ENTRY(key2, el_t, htable);
return el1->val == el2->val;
}
static bor_htable_key_t hash(const bor_list_t *key, void *ud)
{
el_t *el = BOR_LIST_ENTRY(key, el_t, htable);
return borHashJenkins(&el->val, 1, 0);
}
