Struct ConflictBasedSearch 

pub struct ConflictBasedSearch<TS, S, A, C, DC, H>
where
    TS: TransitionSystem<S, A, C, DC> + Send + Sync,
    S: Debug + State + Eq + Hash + Clone + Send + Sync,
    A: Debug + Copy + Send + Sync,
    C: Debug + Hash + Eq + PartialOrd + Ord + Add<DC, Output = C> + Sub<DC, Output = C> + Sub<C, Output = DC> + Copy + Default + LimitValues + Send + Sync,
    DC: Debug + Hash + Ord + Add<DC, Output = DC> + Sub<DC, Output = DC> + Div<f64, Output = DC> + Copy + Default + Send + Sync,
    H: Heuristic<TS, S, A, C, DC> + Send + Sync,
{ /* private fields */ }

Implementation of the Conflict-Based Search algorithm that plans collision-free paths for a set of agents.

Implementations

impl<TS, S, A, C, DC, H> ConflictBasedSearch<TS, S, A, C, DC, H>

where TS: TransitionSystem<S, A, C, DC> + Send + Sync, S: Debug + State + Eq + Hash + Clone + Send + Sync, A: Debug + Copy + Send + Sync, C: Debug + Hash + Eq + PartialOrd + Ord + Add<DC, Output = C> + Sub<DC, Output = C> + Sub<C, Output = DC> + Copy + Default + LimitValues + Send + Sync, DC: Debug + Hash + Ord + Add<DC, Output = DC> + Sub<DC, Output = DC> + Div<f64, Output = DC> + Copy + Default + Send + Sync, H: Heuristic<TS, S, A, C, DC> + Send + Sync,

pub fn new(transition_system: Arc<TS>) -> Self

Creates a new instance of the Conflict-Based Search algorithm.

Arguments

• transition_system - The transition system in which the agents navigate.

pub fn solve( &mut self, config: &CbsConfig<TS, S, A, C, DC, H>, ) -> Option<Vec<Solution<Arc<SippState<S, C, DC>>, A, C, DC>>>

Applies the Conflict-Based Search algorithm to the given configuration.

Arguments

• config - A configuration describing the problem to solve.

pub fn get_stats(&mut self) -> CbsStats

Returns the statistics of the search algorithm.