File DistinctOneGoalTaskAssigner.h

Definition (server/inc/task_assigners/DistinctOneGoalTaskAssigner.h)

• Program Listing for File DistinctOneGoalTaskAssigner.h

Includes

• heuristics/StateAStarNode.h

• task_assigners/BasicTaskAssigner.h (File BasicTaskAssigner.h)

Classes

• Class DistinctOneGoalTaskAssigner

Full File Listing

class DistinctOneGoalTaskAssigner : public BasicTaskAssigner

Public Functions

DistinctOneGoalTaskAssigner() = default

DistinctOneGoalTaskAssigner(const SMARTGrid &G, const shared_ptr<HeuristicTableBase> heuristic_table, int screen, int num_of_agents, int seed, string task_file = "")

void updateStartsAndGoals(vector<tuple<double, double, int>> &start_locs, set<int> finished_tasks_id) override

Private Functions

int sampleUnoccupiedLoc(set<int> to_avoid, vector<int> candidates)

int sampleBackupGoal(set<int> to_avoid, int curr_goal, int start_loc, int agent_id)

tuple<int, bool> genGoal(set<int> to_avoid, int curr_goal, int start_loc, int agent_id)

Private Members

vector<int> goal_buffer