void CliquePartitionProblem::writeSolution(
FractionnarySolution const& bestSolution, double lb) const {
std::ofstream file(
GetStr("optimal/", problemName(), "_", lb, ".txt").c_str());
for (auto const & c : bestSolution) {
for (auto const & edge : getCosts()) {
int const r(edge._i);
int const b(edge._j);
if (c.first->contains(r) && c.first->contains(b)) {
file << std::setw(6) << 1 + r;
file << std::setw(6) << 1 + b;
file << std::endl;
}
}
// for (int r(0); r < nR(); ++r) {
// for (int b(0); b < nB(); ++b) {
// if (c.first->contains(r) && c.first->contains(nR() + b)) {
// file << std::setw(6) << 1 + r;
// file << std::setw(6) << 1 + b + nR();
// file << std::endl;
// }
//
// }
// }
}
file.close();
}
int main(int argc, char **argv)
{
// Run all three problems
for (unsigned int n = 0; n < 3; n++)
{
// initialize the planner
og::SimpleSetupPtr ss = setupProblem(PlannerType(n));
// attempt to solve the problem
ob::PlannerStatus solved = ss->solve(10.0);
if (solved)
{
if (solved == ob::PlannerStatus::EXACT_SOLUTION)
std::cout << "Found solution.\n";
else
std::cout << "Found approximate solution.\n";
// Set up to write the path
std::ofstream f(problemName(PlannerType(n)).c_str());
ompl::geometric::PathGeometric p = ss->getSolutionPath();
p.interpolate();
auto upstream(std::make_shared<ob::VFUpstreamCriterionOptimizationObjective>(
ss->getSpaceInformation(), field));
p.printAsMatrix(f);
std::cout << "Total upstream cost: " << p.cost(upstream) << "\n";
}
else
std::cout << "No solution found.\n";
}
return 0;
}
