void ManSearchPath::Print()
{
printf("%s:\n", GetEnvVar());
CString sp(GetSearchPath());
if (!sp.isNull()) {
CTokenizedString path (sp,Separator().data());
CString subpath = path.next();
while (!subpath.isNull()) {
printf("\t%s\n",subpath.data());
subpath = path.next();
}
printf("\n");
}
}
bool ADPlanner::Search(ADSearchStateSpace_t* pSearchStateSpace, vector<int>& pathIds, int & PathCost, bool bFirstSolution, bool bOptimalSolution, double MaxNumofSecs)
{
CKey key;
TimeStarted = clock();
searchexpands = 0;
#if DEBUG
fprintf(fDeb, "new search call (call number=%d)\n", pSearchStateSpace->callnumber);
#endif
if(pSearchStateSpace->bReinitializeSearchStateSpace == true){
//re-initialize state space
ReInitializeSearchStateSpace(pSearchStateSpace);
}
if(bOptimalSolution)
{
pSearchStateSpace->eps = 1;
MaxNumofSecs = INFINITECOST;
}
else if(bFirstSolution)
{
MaxNumofSecs = INFINITECOST;
}
//the main loop of AD*
int prevexpands = 0;
while(pSearchStateSpace->eps_satisfied > AD_FINAL_EPS &&
(clock()- TimeStarted) < MaxNumofSecs*(double)CLOCKS_PER_SEC)
{
//it will be a new search iteration
pSearchStateSpace->iteration++;
//decrease eps for all subsequent iterations
if(fabs(pSearchStateSpace->eps_satisfied - pSearchStateSpace->eps) < ERR_EPS)
{
pSearchStateSpace->eps = pSearchStateSpace->eps - AD_DECREASE_EPS;
if(pSearchStateSpace->eps < AD_FINAL_EPS)
pSearchStateSpace->eps = AD_FINAL_EPS;
pSearchStateSpace->bReevaluatefvals = true;
}
//build a new open list by merging it with incons one
BuildNewOPENList(pSearchStateSpace);
//re-compute f-values if necessary and reorder the heap
if(pSearchStateSpace->bReevaluatefvals)
Reevaluatefvals(pSearchStateSpace);
//improve or compute path
if(ComputePath(pSearchStateSpace, MaxNumofSecs) == 1){
pSearchStateSpace->eps_satisfied = pSearchStateSpace->eps;
}
//print the solution cost and eps bound
printf("eps=%f expands=%d g(sstart)=%d\n", pSearchStateSpace->eps_satisfied, searchexpands - prevexpands,
((ADState*)pSearchStateSpace->searchgoalstate->PlannerSpecificData)->g);
#if DEBUG
fprintf(fDeb, "eps=%f eps_sat=%f expands=%d g(sstart)=%d\n", pSearchStateSpace->eps, pSearchStateSpace->eps_satisfied, searchexpands - prevexpands,
((ADState*)pSearchStateSpace->searchgoalstate->PlannerSpecificData)->g);
#endif
prevexpands = searchexpands;
//if just the first solution then we are done
if(bFirstSolution)
break;
//no solution exists
if(((ADState*)pSearchStateSpace->searchgoalstate->PlannerSpecificData)->g == INFINITECOST)
break;
}
#if DEBUG
fflush(fDeb);
#endif
PathCost = ((ADState*)pSearchStateSpace->searchgoalstate->PlannerSpecificData)->g;
MaxMemoryCounter += environment_->StateID2IndexMapping.size()*sizeof(int);
printf("MaxMemoryCounter = %d\n", MaxMemoryCounter);
int solcost = INFINITECOST;
bool ret = false;
if(PathCost == INFINITECOST)
{
printf("could not find a solution\n");
ret = false;
}
else
{
printf("solution is found\n");
pathIds = GetSearchPath(pSearchStateSpace, solcost);
ret = true;
}
printf("total expands this call = %d, planning time = %.3f secs, solution cost=%d\n",
searchexpands, (clock()-TimeStarted)/((double)CLOCKS_PER_SEC), solcost);
//fprintf(fStat, "%d %d\n", searchexpands, solcost);
return true;
}
