void PoslvControl::messageRead(const rosbag::MessageInstance& message) {
if (message.isType<poslv::VehicleNavigationSolutionMsg>()) {
poslv::VehicleNavigationSolutionMsgPtr vns(
message.instantiate<poslv::VehicleNavigationSolutionMsg>());
messageRead(vns);
}
}
int main(int argc, char** argv) {
Timer total;
if (argc == 1)
return usage();
AvailableModularityBInstances id(static_cast<AvailableModularityBInstances>(atoi(argv[1]) - 1));
RegisteredModularityBInstance instance(id);
// int id_node(0);
// std::string file_name;
// do {
// file_name = GetStr("node/", instance.name(), "_node_", id_node);
// ++id_node;
// } while (std::remove(file_name.c_str()) == 0);
instance.out();
// oracles creation
VnsGenerator vnsOracle(&instance);
instance.setVnsOracle(&vnsOracle);
BinaryDecompositionOracle bMilpOracle(&instance);
instance.setExactOracle(&bMilpOracle);
ModularityBPartition p(instance, instance.nV());
p.score() = p.computeScore();
// std::cout << "DIVISIVE STARTED" << std::endl;
// bipartite::Divisive divisive(instance, p);
// divisive.run();
std::cout << "VNS STARTED" << std::endl;
bipartite::VnsLabelPropagation vns(instance, p, 20, 5);
vns.run();
std::cout << "B&B STARTED" << std::endl;
BranchAndBound branchAndBound(instance);
int nColumnGeneratorNumberByIte(10);
if (argc > 2) {
nColumnGeneratorNumberByIte = atoi(argv[2]);
}
std::cout << "nColumnGeneratorNumberByIte : " << nColumnGeneratorNumberByIte << std::endl;
branchAndBound._columnGenerator.setNumberByIte(nColumnGeneratorNumberByIte);
branchAndBound.init();
branchAndBound.master().addSingleton();
branchAndBound.master().add(p);
branchAndBound.setOutput();
branchAndBound.run();
// branchAndBound.writeSolution();
std::cout << "program run in " << std::setprecision(10) << total.elapsed() << std::endl;
std::cout << "Solution is " << branchAndBound.bestFeasible() << std::endl;
// instance.cps("toto");
return 0;
}
