void
generateBacktrack(IntVector& current_set, unsigned n)
{
unsigned csum = std::accumulate(current_set.begin(), current_set.end(), 0);
if (csum > n)
{
//discard this solution
return;
}
if (csum == n) //if solution, print it
{
processSolution(current_set);
}
else
{
IntVector candidates = getCandidates(current_set, n, csum);
for (unsigned i =0; i < candidates.size(); ++i)
{
current_set.push_back(candidates.at(i));
generateBacktrack(current_set, n);
current_set.pop_back();
}
}
}
void DBaseBatchPlanner::writeSolutionsToFile(FILE *f)
{
//hacking reaches new lows
numOfGrasps = 0;
FILE *temp = mResultFile;
mResultFile = f;
for (int i=0; i<mPlanner->getListSize();i++){
processSolution(mPlanner->getGrasp(i));
}
mResultFile = temp;
}
void
generateBacktrack(IntVector& current_set, unsigned n)
{
if (current_set.size() == n) //if solution, print it
{
processSolution(current_set);
}
else
{
IntVector candidates;
candidates.push_back(0);
candidates.push_back(1);
for (unsigned i =0; i < candidates.size(); ++i)
{
current_set.push_back(candidates.at(i));
generateBacktrack(current_set, n);
current_set.pop_back();
}
}
}
void
backtrackingIterative(unsigned n)
{
IntVector current_set, temp;
std::stack<IntVector> solution;
solution.push(current_set);
while (!solution.empty())
{
if (solution.top().size() == n)
{
//std::cout<<"Found a subset\n";
processSolution(solution.top());
solution.pop();
if (solution.empty())
{
break;
}
}
else
{
temp = solution.top();
temp.push_back(0);
solution.push(temp);
//std::cout<<"Pushed 1: "; printVector(temp);
continue;
}
temp = solution.top();
solution.pop();
temp.push_back(1);
solution.push(temp);
//std::cout<<"Pushed 2: "; printVector(temp);
}
}
void DBaseBatchPlanner::plannerUpdate()
{
static int lastSolution = 0;
bool newSol = false;
//let's print solutions as they are discovered, so we don't lose all if there's a crash
for (int i=lastSolution; i<mPlanner->getListSize();i++){
processSolution(mPlanner->getGrasp(i));
newSol = true;
}
if (newSol) {
//if we seg-fault we don't want to lose what we have already written
fflush(mResultFile);
if (mType == DEXTEROUS) {
//we don't need already saved solutions
mPlanner->clearSolutions();
lastSolution = 0;
} else if (mType == GRIPPER) {
//in this case we do need them as they will be avoided by future searches
lastSolution = mPlanner->getListSize();
}
}
}
