int extract_1P( int max, Bool H_info )
{
static Bool first_call = TRUE;
int i, max_goal_level, time;
if ( first_call ) {
for ( i = 0; i < gnum_ft_conn; i++ ) {
gft_conn[i].is_true = INFINITY;
gft_conn[i].is_goal = FALSE;
gft_conn[i].ch = FALSE;
}
for ( i = 0; i < gnum_op_conn; i++ ) {
gop_conn[i].is_used = INFINITY;
}
for ( i = 0; i < gnum_ef_conn; i++ ) {
gef_conn[i].in_plan = FALSE;
}
lch_F = ( int * ) calloc( gnum_ft_conn, sizeof( int ) );
lnum_ch_F = 0;
lused_O = ( int * ) calloc( gnum_op_conn, sizeof( int ) );
lnum_used_O = 0;
gin_plan_E = ( int * ) calloc( gnum_ef_conn, sizeof( int ) );
gnum_in_plan_E = 0;
first_call = FALSE;
}
reset_search_info();
if ( (max_goal_level = initialize_goals( max )) == INFINITY ) {
return INFINITY;
}
lh = 0;
for ( time = max_goal_level; time > 0; time-- ) {
achieve_goals( time );
}
if ( H_info ) {
collect_H_info();
}
return lh;
}
int extract_1P( int max, Bool H_info )
{
static Bool first_call = TRUE;
int i, max_goal_level, time, r;
if ( first_call ) {
for ( i = 0; i < gnum_ft_conn; i++ ) {
gft_conn[i].is_true = INFINITY;
gft_conn[i].is_goal = FALSE;
gft_conn[i].ch = FALSE;
}
for ( i = 0; i < gnum_op_conn; i++ ) {
gop_conn[i].is_used = INFINITY;
}
for ( i = 0; i < gnum_ef_conn; i++ ) {
gef_conn[i].in_plan = FALSE;
}
lch_F = ( int * ) calloc( gnum_ft_conn, sizeof( int ) );
lnum_ch_F = 0;
lused_O = ( int * ) calloc( gnum_op_conn, sizeof( int ) );
lnum_used_O = 0;
gin_plan_E = ( int * ) calloc( gnum_ef_conn, sizeof( int ) );
gnum_in_plan_E = 0;
first_call = FALSE;
}
reset_search_info();
if ( (max_goal_level = initialize_goals( max )) == INFINITY ) {
return INFINITY;
}
//new from Y. Chen
for(i=0; i<known_iga_list.num_F; i++) {
if(gft_conn[known_iga_list.F[i]].level == INFINITY) {
//printf("known_iga blocking\n");
return INFINITY;
}
}
//----------------
for ( time = max_goal_level; time > 0; time-- ) {
achieve_goals( time );
}
if ( H_info ) {
collect_H_info();
}
r = lnum_used_O;
if ( lnew_goal ) {
reset_search_info();
source_to_dest( &lgoals, &ggoal_state );
if ( (max_goal_level = initialize_goals( max )) == INFINITY ) {
return INFINITY;
}
for ( time = max_goal_level; time > 0; time-- ) {
achieve_goals( time );
}
}
return r;
}
