Revision 148:c3841d011c0b

View differences:

misc/eclipse/GenerateInstance.launch
8 8
</listAttribute>
9 9
<stringAttribute key="org.eclipse.jdt.launching.CLASSPATH_PROVIDER" value="org.eclipse.m2e.launchconfig.classpathProvider"/>
10 10
<stringAttribute key="org.eclipse.jdt.launching.MAIN_TYPE" value="tt.jointeuclid2ni.probleminstance.generator.GenerateInstance"/>
11
<stringAttribute key="org.eclipse.jdt.launching.PROGRAM_ARGUMENTS" value="-env src/main/resources/environments/78_obstacles.xml -nagents 5 -radius 10 -seed 1010 -gridpattern 4 -gridstep 20 -outfile src/main/resources/problems/78_obstacles.xml -showvis"/>
11
<stringAttribute key="org.eclipse.jdt.launching.PROGRAM_ARGUMENTS" value="-env src/main/resources/d-environments/empty-bunded.xml -nagents 5 -radius 100 -seed 1010 -outfile src/main/resources/problems/empty-bounded-5.xml -showvis"/>
12 12
<stringAttribute key="org.eclipse.jdt.launching.PROJECT_ATTR" value="deconflictiontools"/>
13 13
<stringAttribute key="org.eclipse.jdt.launching.SOURCE_PATH_PROVIDER" value="org.eclipse.m2e.launchconfig.sourcepathProvider"/>
14 14
</launchConfiguration>
misc/eclipse/Solver (test).launch
8 8
</listAttribute>
9 9
<stringAttribute key="org.eclipse.jdt.launching.CLASSPATH_PROVIDER" value="org.eclipse.m2e.launchconfig.classpathProvider"/>
10 10
<stringAttribute key="org.eclipse.jdt.launching.MAIN_TYPE" value="tt.jointeuclid2ni.Solver"/>
11
<stringAttribute key="org.eclipse.jdt.launching.PROGRAM_ARGUMENTS" value="-method PP -problemfile src/main/resources/problems/78_obstacles.xml -maxtime 3500 -summary -showvis -heuristic L2"/>
11
<stringAttribute key="org.eclipse.jdt.launching.PROGRAM_ARGUMENTS" value="-method ORCA -problemfile src/main/resources/problems/78_obstacles.xml -maxtime 3500 -summary -showvis -heuristic L2"/>
12 12
<stringAttribute key="org.eclipse.jdt.launching.PROJECT_ATTR" value="deconflictiontools"/>
13 13
<stringAttribute key="org.eclipse.jdt.launching.SOURCE_PATH_PROVIDER" value="org.eclipse.m2e.launchconfig.sourcepathProvider"/>
14 14
</launchConfiguration>
misc/eclipse/TriangulationGenerator (alex).launch
1
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
2
<launchConfiguration type="org.eclipse.jdt.launching.localJavaApplication">
3
<listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_PATHS">
4
<listEntry value="/deconflictiontools/src/main/java/tt/jointeuclid2ni/probleminstance/generator/TriangulationGenerator.java"/>
5
</listAttribute>
6
<listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_TYPES">
7
<listEntry value="1"/>
8
</listAttribute>
9
<stringAttribute key="org.eclipse.jdt.launching.CLASSPATH_PROVIDER" value="org.eclipse.m2e.launchconfig.classpathProvider"/>
10
<stringAttribute key="org.eclipse.jdt.launching.MAIN_TYPE" value="tt.jointeuclid2ni.probleminstance.generator.TriangulationGenerator"/>
11
<stringAttribute key="org.eclipse.jdt.launching.PROGRAM_ARGUMENTS" value="-problemfile /home/capino/projects/deconfliction/3rdparty/mrs2dplan/maps/78_obstacles.xml -dispersion 30 -connectionradius 45 -bodyradius 10  -outfile src/main/resources/environments/78_obstacles.xml -showvis"/>
12
<stringAttribute key="org.eclipse.jdt.launching.PROJECT_ATTR" value="deconflictiontools"/>
13
<stringAttribute key="org.eclipse.jdt.launching.SOURCE_PATH_PROVIDER" value="org.eclipse.m2e.launchconfig.sourcepathProvider"/>
14
</launchConfiguration>
misc/eclipse/TriangulationGenerator (test).launch
1
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
2
<launchConfiguration type="org.eclipse.jdt.launching.localJavaApplication">
3
<listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_PATHS">
4
<listEntry value="/deconflictiontools/src/main/java/tt/jointeuclid2ni/probleminstance/generator/TriangulationGenerator.java"/>
5
</listAttribute>
6
<listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_TYPES">
7
<listEntry value="1"/>
8
</listAttribute>
9
<stringAttribute key="org.eclipse.jdt.launching.CLASSPATH_PROVIDER" value="org.eclipse.m2e.launchconfig.classpathProvider"/>
10
<stringAttribute key="org.eclipse.jdt.launching.MAIN_TYPE" value="tt.jointeuclid2ni.probleminstance.generator.TriangulationGenerator"/>
11
<stringAttribute key="org.eclipse.jdt.launching.PROGRAM_ARGUMENTS" value="-problemfile src/main/resources/environments/empty-bounded.xml -dispersion 50 -connectionradius 45 -bodyradius 10  -outfile src/main/resources/d-environments/78_obstacles.xml -showvis"/>
12
<stringAttribute key="org.eclipse.jdt.launching.PROJECT_ATTR" value="deconflictiontools"/>
13
<stringAttribute key="org.eclipse.jdt.launching.SOURCE_PATH_PROVIDER" value="org.eclipse.m2e.launchconfig.sourcepathProvider"/>
14
</launchConfiguration>
misc/eclipse/TriangulationGenerator.launch
1
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
2
<launchConfiguration type="org.eclipse.jdt.launching.localJavaApplication">
3
<listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_PATHS">
4
<listEntry value="/deconflictiontools/src/main/java/tt/jointeuclid2ni/probleminstance/generator/TriangulationGenerator.java"/>
5
</listAttribute>
6
<listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_TYPES">
7
<listEntry value="1"/>
8
</listAttribute>
9
<stringAttribute key="org.eclipse.jdt.launching.CLASSPATH_PROVIDER" value="org.eclipse.m2e.launchconfig.classpathProvider"/>
10
<stringAttribute key="org.eclipse.jdt.launching.MAIN_TYPE" value="tt.jointeuclid2ni.probleminstance.generator.TriangulationGenerator"/>
11
<stringAttribute key="org.eclipse.jdt.launching.PROGRAM_ARGUMENTS" value="-problemfile /home/capino/projects/deconfliction/3rdparty/mrs2dplan/maps/78_obstacles.xml -dispersion 30 -connectionradius 45 -bodyradius 10  -outfile src/main/resources/environments/78_obstacles.xml -showvis"/>
12
<stringAttribute key="org.eclipse.jdt.launching.PROJECT_ATTR" value="deconflictiontools"/>
13
<stringAttribute key="org.eclipse.jdt.launching.SOURCE_PATH_PROVIDER" value="org.eclipse.m2e.launchconfig.sourcepathProvider"/>
14
</launchConfiguration>
src/main/java/tt/jointeuclid2ni/probleminstance/EarliestArrivalProblemXMLDeserializer.java
105 105

  
106 106
    private DirectedGraph<Point, Line> parseGraph() {
107 107
        long startTime = System.currentTimeMillis();
108
        DirectedGraph<Point, Line> graph = null;
108
        DirectedWeightedMultigraph<Point, Line> graph = null;
109 109

  
110 110
        NodeList graphNL = doc.getElementsByTagName(EarliestArrivalProblemXMLConstants.GRAPH);
111 111

  
......
119 119
                                               Point targetVertex) {
120 120
                            return new Line(sourceVertex, targetVertex);
121 121
                        }
122
                    }) {
123
						private static final long serialVersionUID = 1L;
122 124

  
123
                    });
125
						@Override
126
						public double getEdgeWeight(Line line) {
127
							return line.getDistance();
128
						}
129

  
130
            };
124 131

  
125 132
            NodeList verticesNL = doc.getElementsByTagName(EarliestArrivalProblemXMLConstants.VERTICES);
126 133
            assert verticesNL.getLength() == 1;
......
146 153
                    Point start = stringToPoint(pointsStr[0]);
147 154
                    Point end = stringToPoint(pointsStr[1]);
148 155

  
149
                    graph.addEdge(start, end);
156
                    Line edge = graph.addEdge(start, end);
150 157
                }
151 158
            }
152 159

  
......
232 239

  
233 240
        if (boundary == null) {
234 241
            if (bounds != null) {
235
                boundary = bounds;
242
                boundary = bounds.toOutFilledPolygon();
236 243
            } else {
237 244
                boundary = computeBoundsAroundObstacles(obstacles);
238 245
            }
src/main/java/tt/jointeuclid2ni/solver/impl/AbstractAlgorithm.java
53 53
                    (int) Math.round(((double) params.gridStep / (double) params.maxSpeed) / (double) 5));
54 54

  
55 55
            VisUtil.visualizeProblem(problem);
56
            if (problem.getPlanningGraph() != null)
57
            	VisUtil.visualizeGraph(problem.getPlanningGraph(), null);
56 58
        }
57 59

  
58 60
        SearchResult result = solveProblem();
59 61

  
60
        if (params.showVis)
62
        if (params.showVis) {
61 63
            visualizeSolution(result);
64
        }
62 65

  
63 66
        return result;
64 67
    }
......
82 85

  
83 86
        if (problem.getPlanningGraph() != null) {
84 87
            DirectedGraph<Point, Line> commonGraph = problem.getPlanningGraph();
88

  
85 89
            // note that we do not clone the graph... this is intentional to save memory
86 90
            // all agents will share the same graph as a result
87 91

  
src/main/resources/d-environments/empty-bunded.xml
1
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
2
<multiagentproblem>
3
<environment>
4
<obstacles/>
5
<boundary>1000,0 0,0 0,1000 1000,1000 </boundary>
6
</environment>
7
<graph>
8
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867,167 902,167 937,167 972,167 27,202 62,202 97,202 132,202 167,202 202,202 237,202 272,202 307,202 342,202 377,202 412,202 447,202 482,202 517,202 552,202 587,202 622,202 657,202 692,202 727,202 762,202 797,202 832,202 867,202 902,202 937,202 972,202 27,237 62,237 97,237 132,237 167,237 202,237 237,237 272,237 307,237 342,237 377,237 412,237 447,237 482,237 517,237 552,237 587,237 622,237 657,237 692,237 727,237 762,237 797,237 832,237 867,237 902,237 937,237 972,237 27,272 62,272 97,272 132,272 167,272 202,272 237,272 272,272 307,272 342,272 377,272 412,272 447,272 482,272 517,272 552,272 587,272 622,272 657,272 692,272 727,272 762,272 797,272 832,272 867,272 902,272 937,272 972,272 27,307 62,307 97,307 132,307 167,307 202,307 237,307 272,307 307,307 342,307 377,307 412,307 447,307 482,307 517,307 552,307 587,307 622,307 657,307 692,307 727,307 762,307 797,307 832,307 867,307 902,307 937,307 972,307 27,342 62,342 97,342 132,342 167,342 202,342 237,342 272,342 307,342 342,342 377,342 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902,482 937,482 972,482 27,517 62,517 97,517 132,517 167,517 202,517 237,517 272,517 307,517 342,517 377,517 412,517 447,517 482,517 517,517 552,517 587,517 622,517 657,517 692,517 727,517 762,517 797,517 832,517 867,517 902,517 937,517 972,517 27,552 62,552 97,552 132,552 167,552 202,552 237,552 272,552 307,552 342,552 377,552 412,552 447,552 482,552 517,552 552,552 587,552 622,552 657,552 692,552 727,552 762,552 797,552 832,552 867,552 902,552 937,552 972,552 27,587 62,587 97,587 132,587 167,587 202,587 237,587 272,587 307,587 342,587 377,587 412,587 447,587 482,587 517,587 552,587 587,587 622,587 657,587 692,587 727,587 762,587 797,587 832,587 867,587 902,587 937,587 972,587 27,622 62,622 97,622 132,622 167,622 202,622 237,622 272,622 307,622 342,622 377,622 412,622 447,622 482,622 517,622 552,622 587,622 622,622 657,622 692,622 727,622 762,622 797,622 832,622 867,622 902,622 937,622 972,622 27,657 62,657 97,657 132,657 167,657 202,657 237,657 272,657 307,657 342,657 377,657 412,657 447,657 482,657 517,657 552,657 587,657 622,657 657,657 692,657 727,657 762,657 797,657 832,657 867,657 902,657 937,657 972,657 27,692 62,692 97,692 132,692 167,692 202,692 237,692 272,692 307,692 342,692 377,692 412,692 447,692 482,692 517,692 552,692 587,692 622,692 657,692 692,692 727,692 762,692 797,692 832,692 867,692 902,692 937,692 972,692 27,727 62,727 97,727 132,727 167,727 202,727 237,727 272,727 307,727 342,727 377,727 412,727 447,727 482,727 517,727 552,727 587,727 622,727 657,727 692,727 727,727 762,727 797,727 832,727 867,727 902,727 937,727 972,727 27,762 62,762 97,762 132,762 167,762 202,762 237,762 272,762 307,762 342,762 377,762 412,762 447,762 482,762 517,762 552,762 587,762 622,762 657,762 692,762 727,762 762,762 797,762 832,762 867,762 902,762 937,762 972,762 27,797 62,797 97,797 132,797 167,797 202,797 237,797 272,797 307,797 342,797 377,797 412,797 447,797 482,797 517,797 552,797 587,797 622,797 657,797 692,797 727,797 762,797 797,797 832,797 867,797 902,797 937,797 972,797 27,832 62,832 97,832 132,832 167,832 202,832 237,832 272,832 307,832 342,832 377,832 412,832 447,832 482,832 517,832 552,832 587,832 622,832 657,832 692,832 727,832 762,832 797,832 832,832 867,832 902,832 937,832 972,832 27,867 62,867 97,867 132,867 167,867 202,867 237,867 272,867 307,867 342,867 377,867 412,867 447,867 482,867 517,867 552,867 587,867 622,867 657,867 692,867 727,867 762,867 797,867 832,867 867,867 902,867 937,867 972,867 27,902 62,902 97,902 132,902 167,902 202,902 237,902 272,902 307,902 342,902 377,902 412,902 447,902 482,902 517,902 552,902 587,902 622,902 657,902 692,902 727,902 762,902 797,902 832,902 867,902 902,902 937,902 972,902 27,937 62,937 97,937 132,937 167,937 202,937 237,937 272,937 307,937 342,937 377,937 412,937 447,937 482,937 517,937 552,937 587,937 622,937 657,937 692,937 727,937 762,937 797,937 832,937 867,937 902,937 937,937 972,937 27,972 62,972 97,972 132,972 167,972 202,972 237,972 272,972 307,972 342,972 377,972 412,972 447,972 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9
<edges>27,27 21,11 ;27,27 11,11 ;27,27 11,55 ;27,27 62,27 ;27,27 27,62 ;27,27 65,11 ;62,27 65,11 ;62,27 97,27 ;62,27 27,27 ;62,27 62,62 ;62,27 21,11 ;97,27 109,11 ;97,27 62,27 ;97,27 97,62 ;97,27 132,27 ;97,27 65,11 ;132,27 153,11 ;132,27 109,11 ;132,27 167,27 ;132,27 132,62 ;132,27 97,27 ;167,27 153,11 ;167,27 197,11 ;167,27 202,27 ;167,27 132,27 ;167,27 167,62 ;202,27 197,11 ;202,27 167,27 ;202,27 202,62 ;202,27 237,27 ;202,27 241,11 ;237,27 241,11 ;237,27 272,27 ;237,27 237,62 ;237,27 202,27 ;237,27 197,11 ;272,27 285,11 ;272,27 241,11 ;272,27 307,27 ;272,27 237,27 ;272,27 272,62 ;307,27 285,11 ;307,27 329,11 ;307,27 272,27 ;307,27 307,62 ;307,27 342,27 ;342,27 329,11 ;342,27 373,11 ;342,27 342,62 ;342,27 377,27 ;342,27 307,27 ;377,27 373,11 ;377,27 412,27 ;377,27 342,27 ;377,27 377,62 ;377,27 417,11 ;412,27 417,11 ;412,27 377,27 ;412,27 412,62 ;412,27 447,27 ;412,27 373,11 ;447,27 461,11 ;447,27 417,11 ;447,27 412,27 ;447,27 482,27 ;447,27 447,62 ;482,27 461,11 ;482,27 505,11 ;482,27 447,27 ;482,27 517,27 ;482,27 482,62 ;517,27 505,11 ;517,27 482,27 ;517,27 517,62 ;517,27 552,27 ;517,27 549,11 ;552,27 549,11 ;552,27 517,27 ;552,27 552,62 ;552,27 587,27 ;552,27 593,11 ;587,27 593,11 ;587,27 622,27 ;587,27 587,62 ;587,27 552,27 ;587,27 549,11 ;622,27 637,11 ;622,27 593,11 ;622,27 622,62 ;622,27 657,27 ;622,27 587,27 ;657,27 637,11 ;657,27 681,11 ;657,27 622,27 ;657,27 657,62 ;657,27 692,27 ;692,27 681,11 ;692,27 657,27 ;692,27 692,62 ;692,27 727,27 ;692,27 725,11 ;727,27 725,11 ;727,27 762,27 ;727,27 727,62 ;727,27 692,27 ;727,27 769,11 ;762,27 769,11 ;762,27 797,27 ;762,27 727,27 ;762,27 762,62 ;762,27 725,11 ;797,27 813,11 ;797,27 769,11 ;797,27 762,27 ;797,27 797,62 ;797,27 832,27 ;832,27 813,11 ;832,27 857,11 ;832,27 832,62 ;832,27 797,27 ;832,27 867,27 ;867,27 857,11 ;867,27 902,27 ;867,27 867,62 ;867,27 832,27 ;867,27 901,11 ;902,27 901,11 ;902,27 937,27 ;902,27 867,27 ;902,27 902,62 ;937,27 945,11 ;937,27 902,27 ;937,27 937,62 ;937,27 972,27 ;937,27 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10
</graph>
11
<agents/>
12
</multiagentproblem>
src/main/resources/environments/78_obstacles.xml
12 12
</environment>
13 13
<graph>
14 14
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15
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