// experiments with 0, 10, ..., 100 differential heuristics
void RunExperiments1(ScenarioLoader *sl)
{
std::vector<graphState> aPath;
Map *m = new Map(sl->GetNthExperiment(0).GetMapName());
m->Scale(sl->GetNthExperiment(0).GetXScale(),
sl->GetNthExperiment(0).GetYScale());
Graph *g = GraphSearchConstants::GetGraph(m);
GraphDistanceHeuristic diffHeuristic(g);
diffHeuristic.SetPlacement(kAvoidPlacement);
GraphEnvironment gEnv(g, &diffHeuristic);
gEnv.SetDirected(true);
TemplateAStar<graphState, graphMove, GraphEnvironment> taNew;
for (int z = 0; z <= 10; z++)
{
for (int x = 0; x < sl->GetNumExperiments(); x++)
{
Experiment e = sl->GetNthExperiment(x);
graphState start, goal;
start = m->GetNodeNum(e.GetStartX(), e.GetStartY());
goal = m->GetNodeNum(e.GetGoalX(), e.GetGoalY());
Timer t;
t.StartTimer();
taNew.GetPath(&gEnv, start, goal, aPath);
t.EndTimer();
printf("%d\t%d\t%lld\t%f\n", e.GetBucket(), diffHeuristic.GetNumHeuristics(), taNew.GetNodesExpanded(), t.GetElapsedTime());
}
for (int x = 0; x < 10; x++)
diffHeuristic.AddHeuristic();
}
exit(0);
}
// Compare:
// * 1 random lookup of 10 with BPMX
// * 1 random lookup of 10 without BPMX
// * octile
// * max of 10 heuristics
// * 1 lookup in compressed heuristic
void RunExperiments4(ScenarioLoader *sl)
{
std::vector<graphState> aPath;
Map *m = new Map(sl->GetNthExperiment(0).GetMapName());
m->Scale(sl->GetNthExperiment(0).GetXScale(),
sl->GetNthExperiment(0).GetYScale());
Graph *g = GraphSearchConstants::GetGraph(m);
GraphMapInconsistentHeuristic diffHeuristic(m, g);
diffHeuristic.SetPlacement(kAvoidPlacement);
diffHeuristic.SetMode(kRandom);
GraphEnvironment gEnv(g, &diffHeuristic);
gEnv.SetDirected(true);
TemplateAStar<graphState, graphMove, GraphEnvironment> taNew;
Timer t;
for (int x = 0; x < 10; x++)
diffHeuristic.AddHeuristic();
//diffHeuristic.SetNumUsedHeuristics(diffHeuristic.GetNumHeuristics()/10);
for (int x = 0; x < sl->GetNumExperiments(); x++)
{
Experiment e = sl->GetNthExperiment(x);
graphState start, goal;
start = m->GetNodeNum(e.GetStartX(), e.GetStartY());
goal = m->GetNodeNum(e.GetGoalX(), e.GetGoalY());
printf("%d\t", e.GetBucket());
// N memory -- 1 heuristic
diffHeuristic.SetNumUsedHeuristics(1);
diffHeuristic.SetMode(kMax);
taNew.SetUseBPMX(0);
t.StartTimer();
taNew.GetPath(&gEnv, start, goal, aPath);
t.EndTimer();
printf("%df\t%lld\t%f\t%f\t", diffHeuristic.GetNumHeuristics(),
taNew.GetNodesExpanded(), t.GetElapsedTime(), gEnv.GetPathLength(aPath));
// N memory -- 10 compressed heuristics no BPMX
diffHeuristic.SetNumUsedHeuristics(10);
diffHeuristic.SetMode(kCompressed);
taNew.SetUseBPMX(0);
t.StartTimer();
taNew.GetPath(&gEnv, start, goal, aPath);
t.EndTimer();
printf("%dc\t%lld\t%f\t%f\t", diffHeuristic.GetNumHeuristics(),
taNew.GetNodesExpanded(), t.GetElapsedTime(), gEnv.GetPathLength(aPath));
// N memory -- 10 compressed heuristics BPMX 1
diffHeuristic.SetNumUsedHeuristics(10);
diffHeuristic.SetMode(kCompressed);
taNew.SetUseBPMX(1);
t.StartTimer();
taNew.GetPath(&gEnv, start, goal, aPath);
t.EndTimer();
printf("%dcb1\t%lld\t%f\t%f\t", diffHeuristic.GetNumHeuristics(),
taNew.GetNodesExpanded(), t.GetElapsedTime(), gEnv.GetPathLength(aPath));
// N memory -- 10 compressed heuristics BPMX(°)
diffHeuristic.SetNumUsedHeuristics(10);
diffHeuristic.SetMode(kCompressed);
taNew.SetUseBPMX(1000);
t.StartTimer();
taNew.GetPath(&gEnv, start, goal, aPath);
t.EndTimer();
printf("%dcbi\t%lld\t%f\t%f\n", diffHeuristic.GetNumHeuristics(),
taNew.GetNodesExpanded(), t.GetElapsedTime(), gEnv.GetPathLength(aPath));
}
exit(0);
}
// Compare:
// * 10 N memory
// * 1...10 regular lookups
// * 1...9 random lookups with and without BPMX
// Only compare on longest problems
void RunExperiments5(ScenarioLoader *sl)
{
std::vector<graphState> aPath;
Map *m = new Map(sl->GetNthExperiment(0).GetMapName());
m->Scale(sl->GetNthExperiment(0).GetXScale(),
sl->GetNthExperiment(0).GetYScale());
Graph *g = GraphSearchConstants::GetGraph(m);
GraphMapInconsistentHeuristic diffHeuristic(m, g);
diffHeuristic.SetPlacement(kAvoidPlacement);
diffHeuristic.SetMode(kRandom);
GraphEnvironment gEnv(g, &diffHeuristic);
gEnv.SetDirected(true);
TemplateAStar<graphState, graphMove, GraphEnvironment> taNew;
Timer t;
for (int x = 0; x < 10; x++)
diffHeuristic.AddHeuristic();
//diffHeuristic.SetNumUsedHeuristics(diffHeuristic.GetNumHeuristics()/10);
for (int x = 0; x < sl->GetNumExperiments(); x++)
{
Experiment e = sl->GetNthExperiment(x);
if (e.GetBucket() != 127)
continue;
graphState start, goal;
start = m->GetNodeNum(e.GetStartX(), e.GetStartY());
goal = m->GetNodeNum(e.GetGoalX(), e.GetGoalY());
printf("%d\t", e.GetBucket());
for (int y = 1; y <= 10; y++)
{
// N memory -- 1 heuristic
diffHeuristic.SetNumUsedHeuristics(y);
diffHeuristic.SetMode(kMax);
taNew.SetUseBPMX(0);
t.StartTimer();
taNew.GetPath(&gEnv, start, goal, aPath);
t.EndTimer();
printf("%dmx\t%lld\t%f\t%f\t", diffHeuristic.GetNumUsedHeuristics(),
taNew.GetNodesExpanded(), t.GetElapsedTime(), gEnv.GetPathLength(aPath));
}
for (int y = 1; y <= 9; y++)
{
for (int z = 0; z <= 1; z++)
{
// N memory -- 1 heuristic
diffHeuristic.SetNumUsedHeuristics(y);
diffHeuristic.SetMode(kRandom);
taNew.SetUseBPMX(z);
t.StartTimer();
taNew.GetPath(&gEnv, start, goal, aPath);
t.EndTimer();
if (z==0)
printf("%drnd\t%lld\t%f\t%f\t", diffHeuristic.GetNumUsedHeuristics(),
taNew.GetNodesExpanded(), t.GetElapsedTime(), gEnv.GetPathLength(aPath));
else
printf("%drdb\t%lld\t%f\t%f\t", diffHeuristic.GetNumUsedHeuristics(),
taNew.GetNodesExpanded(), t.GetElapsedTime(), gEnv.GetPathLength(aPath));
}
}
printf("\n");
}
exit(0);
}
// Compare:
// * 10 N memory
// * 100 compressed heuristics
void RunExperiments(ScenarioLoader *sl, int memory)
{
std::vector<graphState> aPath;
Map *m = new Map(sl->GetNthExperiment(0).GetMapName());
m->Scale(sl->GetNthExperiment(0).GetXScale(),
sl->GetNthExperiment(0).GetYScale());
Graph *g = GraphSearchConstants::GetGraph(m);
GraphMapInconsistentHeuristic diffHeuristic(m, g);
GraphMapInconsistentHeuristic diff1(m, g);
diffHeuristic.SetPlacement(kAvoidPlacement);
diffHeuristic.SetMode(kRandom);
diff1.SetPlacement(kAvoidPlacement);
diff1.SetMode(kMax);
GraphEnvironment gEnv(g, &diffHeuristic);
gEnv.SetDirected(true);
GraphEnvironment gEnv2(g, &diff1);
gEnv2.SetDirected(true);
TemplateAStar<graphState, graphMove, GraphEnvironment> taNew;
Timer t;
for (int x = 0; x < memory; x++)
diffHeuristic.AddHeuristic();
diffHeuristic.SetNumUsedHeuristics(memory);
diffHeuristic.Compress();
diff1.AddHeuristic();
diff1.SetNumUsedHeuristics(1);
for (int x = 0; x < sl->GetNumExperiments(); x++)
{
Experiment e = sl->GetNthExperiment(x);
// if (e.GetBucket() < 100)
// continue;
graphState start, goal;
start = m->GetNodeNum(e.GetStartX(), e.GetStartY());
goal = m->GetNodeNum(e.GetGoalX(), e.GetGoalY());
printf("%d\t", e.GetBucket());
// 10N memory -- 10 heuristics
// diffHeuristic.SetNumUsedHeuristics(1);
// diffHeuristic.SetMode(kMax);
// taNew.SetUseBPMX(0);
//
// t.StartTimer();
// taNew.GetPath(&gEnv, start, goal, aPath);
// t.EndTimer();
// printf("%dmx\t%lld\t%f\t%f\t", diffHeuristic.GetNumUsedHeuristics(),
// taNew.GetNodesExpanded(), t.GetElapsedTime(), gEnv.GetPathLength(aPath));
// diffHeuristic.SetNumUsedHeuristics(memory);
// diffHeuristic.SetMode(kCompressed);
// taNew.SetUseBPMX(0);
// t.StartTimer();
// taNew.GetPath(&gEnv, start, goal, aPath);
// t.EndTimer();
// printf("%dcmp\t%lld\t%f\t%f\t", diffHeuristic.GetNumUsedHeuristics(),
// taNew.GetNodesExpanded(), t.GetElapsedTime(), gEnv.GetPathLength(aPath));
// diffHeuristic.SetNumUsedHeuristics(memory);
// diffHeuristic.SetMode(kCompressed);
taNew.SetUseBPMX(0);
t.StartTimer();
taNew.GetPath(&gEnv2, start, goal, aPath);
t.EndTimer();
printf("%dbx1\t%lld\t%f\t%f\t", diff1.GetNumUsedHeuristics(),
taNew.GetNodesExpanded(), t.GetElapsedTime(), gEnv.GetPathLength(aPath));
taNew.SetUseBPMX(0);
t.StartTimer();
taNew.GetPath(&gEnv, start, goal, aPath);
t.EndTimer();
printf("%dbx1\t%lld\t%f\t%f\t", diffHeuristic.GetNumUsedHeuristics(),
taNew.GetNodesExpanded(), t.GetElapsedTime(), gEnv.GetPathLength(aPath));
taNew.SetUseBPMX(1);
t.StartTimer();
taNew.GetPath(&gEnv, start, goal, aPath);
t.EndTimer();
printf("%dbx1\t%lld\t%f\t%f\t", diffHeuristic.GetNumUsedHeuristics(),
taNew.GetNodesExpanded(), t.GetElapsedTime(), gEnv.GetPathLength(aPath));
// diffHeuristic.SetNumUsedHeuristics(memory);
// diffHeuristic.SetMode(kCompressed);
// taNew.SetUseBPMX(1000);
//
// t.StartTimer();
// taNew.GetPath(&gEnv, start, goal, aPath);
// t.EndTimer();
// printf("%dbxi\t%lld\t%f\t%f\t", diffHeuristic.GetNumUsedHeuristics(),
// taNew.GetNodesExpanded(), t.GetElapsedTime(), gEnv.GetPathLength(aPath));
printf("\n");
fflush(stdout);
}
exit(0);
}
// experiments with 0, 10, ..., 100 differential heuristics
// 10% of them are used at each step with and without BPMX
void RunExperiments2(ScenarioLoader *sl)
{
std::vector<graphState> aPath;
Map *m = new Map(sl->GetNthExperiment(0).GetMapName());
m->Scale(sl->GetNthExperiment(0).GetXScale(),
sl->GetNthExperiment(0).GetYScale());
Graph *g = GraphSearchConstants::GetGraph(m);
GraphMapInconsistentHeuristic diffHeuristic(m, g);
diffHeuristic.SetPlacement(kAvoidPlacement);
diffHeuristic.SetMode(kRandom);
GraphEnvironment gEnv(g, &diffHeuristic);
gEnv.SetDirected(true);
TemplateAStar<graphState, graphMove, GraphEnvironment> taNew;
Timer t;
for (int z = 0; z < 1; z++)
{
for (int x = 0; x < 10; x++)
diffHeuristic.AddHeuristic();
diffHeuristic.SetNumUsedHeuristics(diffHeuristic.GetNumHeuristics()/10);
for (int x = 0; x < sl->GetNumExperiments(); x++)
{
Experiment e = sl->GetNthExperiment(x);
// if (e.GetBucket() != 127)
// { continue; }
graphState start, goal;
start = m->GetNodeNum(e.GetStartX(), e.GetStartY());
goal = m->GetNodeNum(e.GetGoalX(), e.GetGoalY());
// taNew.SetUseBPMX(false);
// Timer t;
// t.StartTimer();
// taNew.GetPath(&gEnv, start, goal, aPath);
// t.EndTimer();
//
// printf("%d\t%d.%d\t%d\t%f\t\t%f\n", e.GetBucket(), diffHeuristic.GetNumHeuristics(), diffHeuristic.GetNumHeuristics()/10,
// taNew.GetNodesExpanded(), t.GetElapsedTime(), gEnv.GetPathLength(aPath));
for (int y = 1; y < 6; y++)
{
if (y == 5)
taNew.SetUseBPMX(1000);
else
taNew.SetUseBPMX(y);
t.StartTimer();
taNew.GetPath(&gEnv, start, goal, aPath);
t.EndTimer();
printf("%d\t%d.%d\t%lld\t%f\tBPMX\t%f\n", e.GetBucket(), diffHeuristic.GetNumHeuristics(), y,
taNew.GetNodesExpanded(), t.GetElapsedTime(), gEnv.GetPathLength(aPath));
}
}
}
exit(0);
}
int main(int argc, char* argv[])
{
char scenfile[1024];
char line[1024];
processArgs(argc,argv);
// Note: bid*4 is the actual bucket value
// init stat collection here !
hash_map<int, vector<vector<IncStat> > > stat; // [bid][alg][scenid]
hash_map<int, int> maxDiffX; // [bid]
hash_map<int, int> maxDiffY; // [bid]
FILE* catelog = fopen(filelist,"r");
if(catelog == 0)
exit(-1);
while(1) {
if(fgets(line,1024,catelog)==0)
break;
remove_newline(line);
if(strlen(line)==0)
continue;
sprintf(scenfile,"scenarios/%s",line);
ScenarioLoader* sl;
sl = new ScenarioLoader(scenfile);
if(sl->GetNumExperiments()==0)
{
std::cout<<"No experiments in this scenario file or invalid file:"<<scenfile<<endl;
//exit(1);
delete sl;
continue;
}
//fprintf(stderr,"line=%s\n",line);
vector<IncStat> tmp;
for(int iexp=0;iexp<sl->GetNumExperiments();iexp++) {
Experiment exp = sl->GetNthExperiment(iexp);
if(stat[exp.GetBucket()].size() > 0)
continue;
for(int i=0;i<=MAX_ALG_ID;i++) {// we have 9 algs
stat[exp.GetBucket()].push_back(tmp);
}
}
delete sl;
}
Graph* g=0;
Map* mp=0;
GraphMapInconsistentHeuristic* heuristic = 0;
GraphEnvironment* env=0;
string currentMap;
int currentScaleX=-1;
int currentScaleY=-1;
fclose(catelog);
catelog = fopen(filelist,"r");
while(1)
{
if(fgets(line,1024,catelog)==0)
break;
remove_newline(line);
if(strlen(line)==0)
continue;
sprintf(scenfile,"scenarios/%s",line);
ScenarioLoader* sl;
vector<graphState> thePath;
sl = new ScenarioLoader(scenfile);
if(sl->GetNumExperiments()==0)
{
std::cout<<"No experiments in this scenario file or invalid file.\n";
//exit(1);
delete sl;
continue;
}
// init buckets
//hash_map<int, vector<vector<InconsistStat> > > statBuckets; // [bucket][alg][item]
//for(int iexp=0;iexp<sl->GetNumExperiments();iexp++) {
// Experiment exp = sl->GetNthExperiment(iexp);
// if(statBuckets[exp.GetBucket()].size() > 0)
// continue;
// for(int i=0;i<10;i++) {// we have 9 algs
// vector<InconsistStat> tmp;
// statBuckets[exp.GetBucket()].push_back(tmp);
// }
//}
char datapath[100];
sprintf(datapath,"outputs/DB%d.dat.AOct",GraphMapInconsistentHeuristic::HN);
FILE *AOctdata = fopen(datapath,"a");
sprintf(datapath,"outputs/DB%d.dat.AMax",GraphMapInconsistentHeuristic::HN);
FILE *AMaxdata = fopen(datapath,"a");
sprintf(datapath,"outputs/DB%d.dat.A",GraphMapInconsistentHeuristic::HN);
FILE *Adata = fopen(datapath,"a");
sprintf(datapath,"outputs/DB%d.dat.B",GraphMapInconsistentHeuristic::HN);
FILE *Bdata = fopen(datapath,"a");
sprintf(datapath,"outputs/DB%d.dat.BP",GraphMapInconsistentHeuristic::HN);
FILE *BPdata = fopen(datapath,"a");
sprintf(datapath,"outputs/DB%d.dat.bpmx",GraphMapInconsistentHeuristic::HN);
FILE *BPMXdata = fopen(datapath,"a");
sprintf(datapath,"outputs/DB%d.dat.bpmx2",GraphMapInconsistentHeuristic::HN);
FILE *BPMX2data = fopen(datapath,"a");
sprintf(datapath,"outputs/DB%d.dat.bpmx3",GraphMapInconsistentHeuristic::HN);
FILE *BPMX3data = fopen(datapath,"a");
sprintf(datapath,"outputs/DB%d.dat.bpmxinf",GraphMapInconsistentHeuristic::HN);
FILE *BPMXidata = fopen(datapath,"a");
sprintf(datapath,"outputs/DB%d.dat.asd.2",GraphMapInconsistentHeuristic::HN);
FILE *ASD2data = fopen(datapath,"a");
sprintf(datapath,"outputs/DB%d.dat.asd.2.bpmx",GraphMapInconsistentHeuristic::HN);
FILE *ASD2bpmxdata = fopen(datapath,"a");
sprintf(datapath,"outputs/DB%d.dat.asd.2.bpmxinf",GraphMapInconsistentHeuristic::HN);
FILE *ASD2bpmxinfdata = fopen(datapath,"a");
sprintf(datapath,"outputs/DB%d.dat.DP",GraphMapInconsistentHeuristic::HN);
FILE *DPdata = fopen(datapath,"a");
sprintf(datapath,"outputs/DB%d.dat.DP.bpmx",GraphMapInconsistentHeuristic::HN);
FILE *DPbpmxdata = fopen(datapath,"a");
sprintf(datapath,"outputs/DB%d.dat.DPDL2MX",GraphMapInconsistentHeuristic::HN);
FILE *DPDL2MXdata = fopen(datapath,"a");
sprintf(datapath,"outputs/DB%d.dat.NULL",GraphMapInconsistentHeuristic::HN);
FILE *NULLdata = fopen(datapath,"a");
for(int iexp=0;iexp<sl->GetNumExperiments();iexp++)
{
Experiment exp = sl->GetNthExperiment(iexp);
char mname[1024];
//xyLoc locstart, locgoal;
struct timeval t0,t1;
exp.GetMapName(mname);
if((string)(mname)==currentMap && exp.GetXScale()==currentScaleX && exp.GetYScale()==currentScaleY){
// rebuild the map,g,env only when necessary
}
else {
if(mp != 0) {
delete mp;
//delete g;
//delete heuristic;
delete env;
}
mp = new Map(mname);
if(exp.GetXScale() <= 0) {
printf("Invalid scaling\n");
//exit(-1);
delete mp;
continue;
}
currentMap = (string)(mname);
currentScaleX = exp.GetXScale();
currentScaleY = exp.GetYScale();
mp->scale(exp.GetXScale(), exp.GetYScale());
g = GraphSearchConstants::GetGraph(mp);
heuristic = new GraphMapInconsistentHeuristic(mp, g);
env = new GraphEnvironment(g,heuristic); //
}
//mp = new Map(mname);
//// need to scale the map !
//if(exp.GetXScale() <= 0) {
// printf("Invalid scaling\n");
// exit(-1);
//}
//mp->scale(exp.GetXScale(), exp.GetYScale());
//g = GetMapGraph(mp);
// identify from & to
graphState from, to;
from = mp->getNodeNum(exp.GetStartX(),exp.GetStartY());
to = mp->getNodeNum(exp.GetGoalX(),exp.GetGoalY());
int bid = exp.GetBucket();
//maxDiffX[bid] = (int)max(maxDiffX[bid],abs(exp.GetStartX()-exp.GetGoalX()));
//maxDiffY[bid] = (int)max(maxDiffY[bid],abs(exp.GetStartY()-exp.GetGoalY()));
//printf("scene=%s,iexp=%d\n",scenfile,iexp);
Prop A(PROP_A);
Prop B(PROP_B);
Prop BP(PROP_BP);
Prop BPMX1(PROP_BPMX);
Prop BPMX2(PROP_BPMX);
BPMX2.bpmxLevel = 2;
Prop BPMX3(PROP_BPMX);
BPMX3.bpmxLevel = 3;
Prop BPMXi(PROP_BPMX);
BPMXi.bpmxLevel = 65536;
AStarDelay asd(0);
AStarDelay asdmx(1);
AStarDelay asdmxinf(65536);
Prop DP(PROP_DP);
DP.bpmxLevel = 0;
Prop DPMX(PROP_DP);
DPMX.bpmxLevel = 1;
Prop DPDL2MX(PROP_DPDLMX);
//alg0.bpmxLevel = 1;
//AStarDelay alg0(1);
//Prop alg1(PROP_A);
//Prop alg2(PROP_A);
//Prop alg2(2);
//Prop alg3(3,delta);
//Prop alg4(4);
//Prop alg5(5);
//AStarDelay alg6;
//Prop alg7(7);
//Prop alg8(8);
//Prop alg9(9);
// the following are special ! A* with a different heuristic
//Prop alg10(0); // upper bound
//Prop alg11(0); // lower bound ??
GraphMapInconsistentHeuristic::hmode = 0;
gettimeofday(&t0,0);
A.GetPath(env,g,from,to,thePath);
gettimeofday(&t1,0);
//fprintf(NULLdata,"%ld %lf %d\n",A.GetNodesExpanded(), A.solutionCost, bid);
fprintf(AOctdata,"%ld %lf %d %lu %lu %lu %lu %lu %lu\n",A.GetNodesExpanded(), calcTime(t0,t1), bid, (unsigned long)A.nNewExp,(unsigned long)A.nReExp,(unsigned long)A.nBPMX,A.tickNewExp,A.tickReExp,A.tickBPMX);
GraphMapInconsistentHeuristic::hmode = 2;
gettimeofday(&t0,0);
A.GetPath(env,g,from,to,thePath);
gettimeofday(&t1,0);
fprintf(AMaxdata,"%ld %lf %d %lu %lu %lu %lu %lu %lu\n",A.GetNodesExpanded(), calcTime(t0,t1), bid, (unsigned long)A.nNewExp,(unsigned long)A.nReExp,(unsigned long)A.nBPMX,A.tickNewExp,A.tickReExp,A.tickBPMX);
GraphMapInconsistentHeuristic::hmode = 1; // careful !!!!
gettimeofday(&t0,0);
A.GetPath(env,g,from,to,thePath);
gettimeofday(&t1,0);
fprintf(Adata,"%ld %lf %d %lu %lu %lu %lu %lu %lu\n", A.GetNodesExpanded(), calcTime(t0,t1), bid, (unsigned long)A.nNewExp,(unsigned long)A.nReExp,(unsigned long)A.nBPMX,A.tickNewExp,A.tickReExp,A.tickBPMX);
gettimeofday(&t0,0);
B.GetPath(env,g,from,to,thePath);
gettimeofday(&t1,0);
fprintf(Bdata,"%ld %lf %d %lu %lu %lu %lu %lu %lu\n",B.GetNodesExpanded(), calcTime(t0,t1), bid, (unsigned long)B.nNewExp,(unsigned long)B.nReExp,(unsigned long)B.nBPMX,B.tickNewExp,B.tickReExp,B.tickBPMX);
gettimeofday(&t0,0);
BP.GetPath(env,g,from,to,thePath);
gettimeofday(&t1,0);
fprintf(BPdata,"%ld %lf %d %lu %lu %lu %lu %lu %lu\n",BP.GetNodesExpanded(), calcTime(t0,t1), bid, (unsigned long)BP.nNewExp,(unsigned long)BP.nReExp,(unsigned long)BP.nBPMX,BP.tickNewExp,BP.tickReExp,BP.tickBPMX);
gettimeofday(&t0,0);
BPMX1.GetPath(env,g,from,to,thePath);
gettimeofday(&t1,0);
fprintf(BPMXdata,"%ld %lf %d %lu %lu %lu %lu %lu %lu\n",BPMX1.GetNodesExpanded(), calcTime(t0,t1), bid, (unsigned long)BPMX1.nNewExp,(unsigned long)BPMX1.nReExp,(unsigned long)BPMX1.nBPMX,BPMX1.tickNewExp,BPMX1.tickReExp,BPMX1.tickBPMX);
gettimeofday(&t0,0);
BPMX2.GetPath(env,g,from,to,thePath);
gettimeofday(&t1,0);
fprintf(BPMX2data,"%ld %lf %d %lu %lu %lu %lu %lu %lu\n",BPMX2.GetNodesExpanded(), calcTime(t0,t1), bid, (unsigned long)BPMX2.nNewExp,(unsigned long)BPMX2.nReExp,(unsigned long)BPMX2.nBPMX,BPMX2.tickNewExp,BPMX2.tickReExp,BPMX2.tickBPMX);
gettimeofday(&t0,0);
BPMX3.GetPath(env,g,from,to,thePath);
gettimeofday(&t1,0);
fprintf(BPMX3data,"%ld %lf %d %lu %lu %lu %lu %lu %lu\n",BPMX3.GetNodesExpanded(), calcTime(t0,t1), bid, (unsigned long)BPMX3.nNewExp,(unsigned long)BPMX3.nReExp,(unsigned long)BPMX3.nBPMX,BPMX3.tickNewExp,BPMX3.tickReExp,BPMX3.tickBPMX);
gettimeofday(&t0,0);
BPMXi.GetPath(env,g,from,to,thePath);
gettimeofday(&t1,0);
fprintf(BPMXidata,"%ld %lf %d %lu %lu %lu %lu %lu %lu\n",BPMXi.GetNodesExpanded(), calcTime(t0,t1), bid, (unsigned long)BPMXi.nNewExp,(unsigned long)BPMXi.nReExp,(unsigned long)BPMXi.nBPMX,BPMXi.tickNewExp,BPMXi.tickReExp,BPMXi.tickBPMX);
gettimeofday(&t0,0);
asd.GetPath(env,g,from,to,thePath);
gettimeofday(&t1,0);
fprintf(ASD2data,"%ld %lf %d %lu %lu %lu %lu %lu %lu\n",asd.GetNodesExpanded(), calcTime(t0,t1), bid, (unsigned long)asd.nNewExp,(unsigned long)asd.nReExp,(unsigned long)asd.nBPMX,asd.tickNewExp,asd.tickReExp,asd.tickBPMX);
gettimeofday(&t0,0);
asdmx.GetPath(env,g,from,to,thePath);
gettimeofday(&t1,0);
fprintf(ASD2bpmxdata,"%ld %lf %d %lu %lu %lu %lu %lu %lu\n",asdmx.GetNodesExpanded(), calcTime(t0,t1), bid, (unsigned long)asdmx.nNewExp,(unsigned long)asdmx.nReExp,(unsigned long)asdmx.nBPMX,asdmx.tickNewExp,asdmx.tickReExp,asdmx.tickBPMX);
gettimeofday(&t0,0);
asdmxinf.GetPath(env,g,from,to,thePath);
gettimeofday(&t1,0);
fprintf(ASD2bpmxinfdata,"%ld %lf %d %lu %lu %lu %lu %lu %lu\n",asdmxinf.GetNodesExpanded(), calcTime(t0,t1), bid, (unsigned long)asdmxinf.nNewExp,(unsigned long)asdmxinf.nReExp,(unsigned long)asdmxinf.nBPMX,asdmxinf.tickNewExp,asdmxinf.tickReExp,asdmxinf.tickBPMX);
gettimeofday(&t0,0);
DP.GetPath(env,g,from,to,thePath);
gettimeofday(&t1,0);
fprintf(DPdata,"%ld %lf %d %lu %lu %lu %lu %lu %lu\n",DP.GetNodesExpanded(), calcTime(t0,t1), bid, (unsigned long)DP.nNewExp,(unsigned long)DP.nReExp,(unsigned long)DP.nBPMX,DP.tickNewExp,DP.tickReExp,DP.tickBPMX);
gettimeofday(&t0,0);
DPMX.GetPath(env,g,from,to,thePath);
gettimeofday(&t1,0);
fprintf(DPbpmxdata,"%ld %lf %d %lu %lu %lu %lu %lu %lu\n",DPMX.GetNodesExpanded(), calcTime(t0,t1), bid, (unsigned long)DPMX.nNewExp,(unsigned long)DPMX.nReExp,(unsigned long)DPMX.nBPMX,DPMX.tickNewExp,DPMX.tickReExp,DPMX.tickBPMX);
gettimeofday(&t0,0);
//DPDL2MX.GetPath(env,g,from,to,thePath);
gettimeofday(&t1,0);
//fprintf(DPDL2MXdata,"%ld %lf %d\n",DPDL2MX.GetNodesExpanded(), calcTime(t0,t1), bid);
//====================================================
//gettimeofday(&t0,0);
//alg1.GetPath(env,g,from,to,thePath);
//gettimeofday(&t1,0);
//hmode = 2;
//gettimeofday(&t0,0);
//alg1.GetPath(env,g,from,to,thePath);
//gettimeofday(&t1,0);
//stat[bid][1].push_back(IncStat(alg1.GetNodesExpanded(),calcTime(t0,t1)));
//if(! (alg0.solutionCost == alg1.solutionCost ))
//{
//printf("scenfile= %s , exp = %d, %lf, %lf \n", line, iexp, alg0.solutionCost, alg1.solutionCost);
//exit(-1);
//}
//if(strcmp(line,"AR0205SR.map.txt") == 0 && iexp == 498) {
// printf("The cost is %lf \n", alg0.solutionCost);
// exit(-1);
//}
//gettimeofday(&t0,0);
//alg2.GetPath(env,g,from,to,thePath);
//gettimeofday(&t1,0);
//stat[bid][2].push_back(IncStat(alg2.GetNodesExpanded(),calcTime(t0,t1)));
//gettimeofday(&t0,0);
//alg3.GetPath(env,g,from,to,thePath);
//gettimeofday(&t1,0);
//stat[bid][3].push_back(IncStat(alg3.GetNodesExpanded(),calcTime(t0,t1)));
////alg4.GetPath(env,g,from,to,thePath);
////alg5.GetPath(env,g,from,to,thePath);
//gettimeofday(&t0,0);
//alg6.GetPath(env,g,from,to,thePath);
//gettimeofday(&t1,0);
//stat[bid][6].push_back(IncStat(alg6.GetNodesExpanded(),calcTime(t0,t1)));
//gettimeofday(&t0,0);
//alg7.GetPath(env,g,from,to,thePath);
//gettimeofday(&t1,0);
//stat[bid][7].push_back(IncStat(alg7.GetNodesExpanded(),calcTime(t0,t1)));
//gettimeofday(&t0,0);
//alg8.GetPath(env,g,from,to,thePath);
//gettimeofday(&t1,0);
//stat[bid][8].push_back(IncStat(alg8.GetNodesExpanded(),calcTime(t0,t1)));
//gettimeofday(&t0,0);
//alg9.GetPath(env,g,from,to,thePath);
//gettimeofday(&t1,0);
//stat[bid][9].push_back(IncStat(alg9.GetNodesExpanded(),calcTime(t0,t1)));
//hmode = 0;
//gettimeofday(&t0,0);
//alg10.GetPath(env,g,from,to,thePath);
//gettimeofday(&t1,0);
//stat[bid][10].push_back(IncStat(alg10.GetNodesExpanded(),calcTime(t0,t1)));
//hmode = 2;
//gettimeofday(&t0,0);
//alg11.GetPath(env,g,from,to,thePath);
//gettimeofday(&t1,0);
//stat[bid][11].push_back(IncStat(alg11.GetNodesExpanded(),calcTime(t0,t1)));
//delete env;
//delete g;
//delete mp;
}
fclose(AOctdata);
fclose(AMaxdata);
fclose(Adata);
fclose(Bdata);
fclose(BPdata);
fclose(BPMXdata);
fclose(BPMX2data);
fclose(BPMX3data);
fclose(BPMXidata);
fclose(ASD2data);
fclose(ASD2bpmxdata);
fclose(ASD2bpmxinfdata);
fclose(DPdata);
fclose(DPbpmxdata);
fclose(DPDL2MXdata);
fclose(NULLdata);
// Note: bid*4 is the actual bucket value
// summary of the stat
// write to file,
//FILE *outlog,*outtable,*outstat;
//char log[1024],table[1024],st[1024];
//sprintf(log,"outputs/run.hn%d.log",HN);
//sprintf(table,"outputs/run.hn%d.table",HN);
//sprintf(st,"outputs/run.hn%d.stat",HN);
//outlog = fopen(log,"a"); // append
//outtable = fopen(table,"w");
//outstat = fopen(st,"w");
//for(hash_map<int, vector<vector<IncStat> > >::iterator biter=stat.begin();biter!=stat.end();biter++)
//{
// int vid=0;
// for(vector<vector<IncStat> >::iterator viter=biter->second.begin();viter != biter->second.end(); viter++,vid++)
// {
// if(vid == 4 || vid == 5)
// continue;
// // compute the ave
// double expanded=0,time=0; // total
// for(vector<IncStat>::iterator iter=viter->begin();iter!=viter->end();iter++)
// {
// expanded += iter->expanded;
// time += iter->time;
// }
// expanded /= viter->size();
// time /= viter->size();
// fprintf(outstat,"%d %d %lf %lf\n",4*biter->first,vid,expanded,time); // bucket = 4*bid
// // compute std, max/min
// double maxExp=0,maxTime=0;
// double minExp=DBL_MAX,minTime=DBL_MAX;
// double stdExp =0;
// double stdTime = 0;
// for(vector<IncStat>::iterator iter=viter->begin();iter!=viter->end();iter++)
// {
// maxExp = max(maxExp,iter->expanded);
// maxTime = max(maxTime,iter->time);
// minExp = min(minExp,iter->expanded);
// minTime = min(minTime,iter->time);
// stdExp += pow(expanded-iter->expanded,2);
// stdTime += pow(time-iter->time,2);
// }
// stdExp = sqrt(stdExp/viter->size());
// stdTime = sqrt(stdTime/viter->size());
// fprintf(outtable,"%d %d %lf %lf %d %lf %d %lf %d %d\n",4*biter->first,vid,stdExp,stdTime,(int)maxExp,maxTime,(int)minExp,minTime,maxDiffX[biter->first],maxDiffY[biter->first]);
// }
//}
//fprintf(outlog,"%s\n",scenfile); // what file has been processed
delete sl;
//fclose(outlog);
//fclose(outtable);
//fclose(outstat);
}
fclose(catelog);
if(mp != 0) {
delete mp;
//delete g;
//delete heuristic;
delete env;
}
return 0;
}
