Cleaned up DistanceTableAStarHeuristic and its subclasses

src/main/java/BasicCBS/Solvers/AStar/DistanceTableAStarHeuristic.java

@@ -1,10 +1,13 @@
 package BasicCBS.Solvers.AStar;
 
 import BasicCBS.Instances.Agent;
-import BasicCBS.Instances.Maps.*;
-import BasicCBS.Instances.Maps.Coordinates.I_Coordinate;
+import BasicCBS.Instances.Maps.I_Location;
+import BasicCBS.Instances.Maps.I_Map;
 
-import java.util.*;
+import java.util.HashMap;
+import java.util.LinkedList;
+import java.util.List;
+import java.util.Map;
 
 /**
  * A {@link AStarHeuristic} that uses a pre-calculated dictionary of distances from possible goal locations to every
@@ -13,32 +16,37 @@
 public class DistanceTableAStarHeuristic implements AStarHeuristic {
     // nicetohave avoid duplicates (when two agents have the same goal)
 
-    private Map<Agent, Map<I_Location, Integer>> distanceDictionaries;
+    /**
+     * Dictionary from target location, to its distance from any location on the map.
+     */
+    private Map<I_Location, Map<I_Location, Integer>> distanceDictionaries;
+    private I_Map map;
 
-    public Map<Agent, Map<I_Location, Integer>> getDistanceDictionaries() {
+    public Map<I_Location, Map<I_Location, Integer>> getDistanceDictionaries() {
         return distanceDictionaries;
     }
 
     public DistanceTableAStarHeuristic(List<? extends Agent> agents, I_Map map) {
-
+        this.map = map;
         this.distanceDictionaries = new HashMap<>();
-        for (int i = 0; i < agents.size(); i++) {
+        for (Agent agent : agents) {
+            addAgentToHeuristic(agent);
+        }
+    }
 
-            //this map will entered to distanceDictionaries for every agent
+    public void addAgentToHeuristic(Agent agent) {
+        I_Location target = map.getMapCell(agent.target);
+        if (!distanceDictionaries.containsKey(target)){
+            //this map will be added to distanceDictionaries for every agent
             Map<I_Location, Integer> mapForAgent = new HashMap<>();
-            this.distanceDictionaries.put(agents.get(i), mapForAgent);
-            LinkedList<I_Location> queue = new LinkedList<>();
-            I_Coordinate i_coordinate = agents.get(i).target;
-            I_Location mapCell = map.getMapCell(i_coordinate);
+            this.distanceDictionaries.put(target, mapForAgent);
 
             //distance of a graphMapCell from itself
-            this.distanceDictionaries.get(agents.get(i)).put(mapCell, 0);
+            this.distanceDictionaries.get(target).put(target, 0);
 
             //all the neighbors of a graphMapCell
-            List<I_Location> neighbors = mapCell.getNeighbors();
-            for (int j = 0; j < neighbors.size(); j++) {
-                queue.add(neighbors.get(j));
-            }
+            List<I_Location> neighbors = target.getNeighbors();
+            LinkedList<I_Location> queue = new LinkedList<>(neighbors);
 
             int distance = 1;
             int count = queue.size();
@@ -47,8 +55,8 @@ public DistanceTableAStarHeuristic(List<? extends Agent> agents, I_Map map) {
                 I_Location i_location = queue.remove(0);
 
                 //if a graphMapCell didn't got a distance yet
-                if (!(this.distanceDictionaries.get(agents.get(i)).containsKey(i_location))) {
-                    this.distanceDictionaries.get(agents.get(i)).put(i_location, distance);
+                if (!(this.distanceDictionaries.get(target).containsKey(i_location))) {
+                    this.distanceDictionaries.get(target).put(i_location, distance);
 
                     //add all the neighbors of the current graphMapCell to  the queue
                     List<I_Location> neighborsCell = i_location.getNeighbors();
@@ -66,8 +74,13 @@ public DistanceTableAStarHeuristic(List<? extends Agent> agents, I_Map map) {
 
     @Override
     public float getH(SingleAgentAStar_Solver.AStarState state) {
-        Map<I_Location, Integer> relevantDictionary = this.distanceDictionaries.get(state.getMove().agent);
-        return relevantDictionary.get(state.getMove().currLocation);
+        return getHForAgentAndCurrentLocation(state.getMove().agent, state.getMove().currLocation);
+    }
+
+    // todo work only with locations
+    public float getHForAgentAndCurrentLocation(Agent agent, I_Location currLocation){
+        Map<I_Location, Integer> relevantDictionary = this.distanceDictionaries.get(map.getMapCell(agent.target));
+        return relevantDictionary.get(currLocation);
     }
 
 }

src/main/java/BasicCBS/Solvers/ICTS/MDDs/DistanceTableAStarHeuristicICTS.java

@@ -1,20 +1,18 @@
 package BasicCBS.Solvers.ICTS.MDDs;
 
 import BasicCBS.Instances.Agent;
-import BasicCBS.Instances.Maps.I_Location;
 import BasicCBS.Instances.Maps.I_Map;
 import BasicCBS.Solvers.AStar.DistanceTableAStarHeuristic;
 
 import java.util.List;
-import java.util.Map;
 
 public class DistanceTableAStarHeuristicICTS extends DistanceTableAStarHeuristic {
     public DistanceTableAStarHeuristicICTS(List<? extends Agent> agents, I_Map map) {
         super(agents, map);
     }
 
     public void setH(MDDSearchNode node) {
-        Map<I_Location, Integer> relevantDictionary = getDistanceDictionaries().get(node.getAgent());
-        node.setH(relevantDictionary.get(node.getLocation()));
+        node.setH(getHForAgentAndCurrentLocation(node.getAgent(), node.getLocation()));
     }
+
 }

src/main/java/BasicCBS/Solvers/ICTS/MergedMDDs/IndependenceDetection_MergedMDDSolver.java

@@ -87,7 +87,7 @@ private Solution mergeSolutions(Set<AgentsGroup> agentGroups) {
     }
 
     protected I_ConflictManager getConflictManager(Set<AgentsGroup> agentGroups) {
-        I_ConflictManager conflictManager = new NaiveConflictDetection(true);
+        I_ConflictManager conflictManager = new NaiveConflictDetection();
         for (AgentsGroup ag : agentGroups){
             for (SingleAgentPlan plan : ag.getSolution()){
                 conflictManager.addPlan(plan);

src/test/java/BasicCBS/Solvers/AStar/DistanceTableAStarHeuristicTest.java

@@ -25,16 +25,16 @@ public class DistanceTableAStarHeuristicTest {
     I_Map map= MapFactory.newSimple4Connected2D_GraphMap(map_2D_H);
 
     /*   = Equals Maps =    */
-    private boolean equalsAllAgentMap(Map<Agent, Map<I_Location, Integer>> expectedValues, Map<Agent, Map<I_Location, Integer>> actualValues){
+    private boolean equalsAllAgentMap(Map<I_Location, Map<I_Location, Integer>> expectedValues, Map<I_Location, Map<I_Location, Integer>> actualValues){
 
         if( expectedValues.size() != actualValues.size() ){
             return false;
         }
-        for (Map.Entry<Agent, Map<I_Location, Integer>> agentMapEntry: expectedValues.entrySet()){
+        for (Map.Entry<I_Location, Map<I_Location, Integer>> agentMapEntry: expectedValues.entrySet()){
 
-            Agent agent = agentMapEntry.getKey();
-            Map<I_Location, Integer> expectedCellMap = expectedValues.get(agent);
-            Map<I_Location, Integer> actualCellMap = actualValues.get(agent);
+            I_Location target = agentMapEntry.getKey();
+            Map<I_Location, Integer> expectedCellMap = expectedValues.get(target);
+            Map<I_Location, Integer> actualCellMap = actualValues.get(target);
 
             if (! this.equalsAllCellMap(expectedCellMap,actualCellMap)){
                 return false;
@@ -87,9 +87,9 @@ public void test(){
 
         /*      = Expected values =     */
 
-        Map<Agent, Map<I_Location, Integer>> expected=new HashMap<>();
-        Map<I_Location, Integer> insideMap=new HashMap<>();
-        Map<I_Location, Integer> insideMap2=new HashMap<>();
+        Map<I_Location, Map<I_Location, Integer>> expected = new HashMap<>();
+        Map<I_Location, Integer> insideMap = new HashMap<>();
+        Map<I_Location, Integer> insideMap2 = new HashMap<>();
         insideMap.put(map.getMapCell(new Coordinate_2D(1,3)),1);
         insideMap.put(map.getMapCell(new Coordinate_2D(2,3)),2);
         insideMap.put(map.getMapCell(new Coordinate_2D(1,2)),2);
@@ -108,11 +108,11 @@ public void test(){
         insideMap2.put(map.getMapCell(new Coordinate_2D(2,0)),5);
         insideMap2.put(map.getMapCell(new Coordinate_2D(2,3)),0);
 
-        expected.put(agent_1,insideMap);
-        expected.put(agent_2,insideMap2);
+        expected.put(map.getMapCell(agent_1.target), insideMap);
+        expected.put(map.getMapCell(agent_2.target), insideMap2);
 
         /*  = Test actual values =  */
-        DistanceTableAStarHeuristic distanceTableAStarHeuristic=new DistanceTableAStarHeuristic(list,map);
+        DistanceTableAStarHeuristic distanceTableAStarHeuristic = new DistanceTableAStarHeuristic(list, map);
 
         Assert.assertTrue(equalsAllAgentMap(expected, distanceTableAStarHeuristic.getDistanceDictionaries()));
     }