Revision 207:e1f70df3f345

View differences:

src/main/java/tt/jointeuclid2ni/solver/impl/AbstractDPMBasedAlgorithm.java
9 9
import tt.euclid2i.Point;
10 10
import tt.euclidtime3i.L1Heuristic;
11 11
import tt.euclidtime3i.L2Heuristic;
12
import tt.euclidtime3i.PerfectBasedHeuristic;
12
import tt.euclidtime3i.ShortestPathHeuristic;
13 13
import tt.euclidtime3i.discretization.softconstraints.BumpSeparationPenaltyFunction;
14 14
import tt.euclidtime3i.discretization.softconstraints.PenaltyFunction;
15 15
import tt.jointtraj.separableflow.AStarTrajectoryOptimizer;
......
49 49
        for (int i = 0; i < problem.nAgents(); i++) {
50 50
            switch (params.heuristic) {
51 51
            case PERFECT:
52
                heuristics[i] = new PerfectBasedHeuristic(graph[i], problem.getTarget(i));
52
                heuristics[i] = new ShortestPathHeuristic(graph[i], problem.getTarget(i));
53 53
                break;
54 54

  
55 55
            case L1:
src/main/java/tt/jointeuclid2ni/solver/impl/AlgorithmIIHP.java
11 11
import tt.euclid2i.EvaluatedTrajectory;
12 12
import tt.euclid2i.Line;
13 13
import tt.euclid2i.Point;
14
import tt.euclidtime3i.PerfectBasedHeuristic;
14
import tt.euclidtime3i.ShortestPathHeuristic;
15 15
import tt.euclidtime3i.discretization.softconstraints.BumpSeparationPenaltyFunction;
16 16
import tt.euclidtime3i.discretization.softconstraints.LinearSeparationPenaltyFunction;
17 17
import tt.euclidtime3i.discretization.softconstraints.PairwiseConstraint;
......
54 54
        List<Complex> obstacleSamples = HomotopyUtils.sampleObstacles(problem.getObstacles(), random);
55 55
        HValueIntegrator integrator = new HValueAnalyticIntegrator(freeSpaceSamples, obstacleSamples);
56 56

  
57

  
58 57
        // Compute heuristic based on optimal policies on the spatial graph
59 58
        HeuristicToGoal<tt.euclidtime3i.Point>[] heuristics = new HeuristicToGoal[problem.nAgents()];
60 59

  
61 60
        for (int i = 0; i < problem.nAgents(); i++) {
62
            heuristics[i] = new PerfectBasedHeuristic(graph[i], problem.getTarget(i));
61
            heuristics[i] = new ShortestPathHeuristic(graph[i], problem.getTarget(i));
63 62
        }
64 63

  
65 64
        TrajectoryOptimizerWithHomotopyConstraints[] trajectoryOptimizers = new TrajectoryOptimizerWithHomotopyConstraints[problem.nAgents()];
src/main/java/tt/jointeuclid2ni/solver/impl/AlgorithmPP.java
6 6
import tt.euclid2i.Line;
7 7
import tt.euclidtime3i.L1Heuristic;
8 8
import tt.euclidtime3i.L2Heuristic;
9
import tt.euclidtime3i.PerfectBasedHeuristic;
9
import tt.euclidtime3i.ShortestPathHeuristic;
10 10
import tt.euclidtime3i.Point;
11 11
import tt.euclidtime3i.discretization.Straight;
12 12
import tt.jointeuclid2ni.solver.HeuristicType;
......
39 39
        for (int i = 0; i < problem.nAgents(); i++) {
40 40
        	switch (params.heuristic) {
41 41
			case PERFECT:
42
				heuristics[i] = new PerfectBasedHeuristic(spatial[i], problem.getTarget(i));
42
				heuristics[i] = new ShortestPathHeuristic(spatial[i], problem.getTarget(i));
43 43
				break;
44 44

  
45 45
			case L1:

Also available in: Unified diff