M agpl-cr-cost_matrix.adb

M agpl-cr-cost_matrix.ads M agpl-cr-agent.adb M agpl-cr-agent.ads M bellman_ford.c
mosteo · Apr 29, 2007 · ecd5406 · ecd5406
1 parent cd6e96d
commit ecd5406
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Showing 5 changed files with 48 additions and 0 deletions.
diff --git a/agpl-cr-agent.adb b/agpl-cr-agent.adb
@@ -275,6 +275,15 @@ package body Agpl.Cr.Agent is
       This.Tasks := Tasks;
    end Set_Tasks;
 
+   -----------------------
+   -- Remove_First_Task --
+   -----------------------
+
+   procedure Remove_First_Task (This : in out Object) is
+   begin
+      This.Remove_Task (This.Get_First_Task.Get_Id);
+   end Remove_First_Task;
+
    -----------------
    -- Remove_Task --
    -----------------

diff --git a/agpl-cr-agent.ads b/agpl-cr-agent.ads
@@ -124,6 +124,8 @@ package Agpl.Cr.Agent is
 --     procedure Mark_Start (This : in out Object);
    --  Marks the execution is starting now, and caches the estimated cost.
 
+   procedure Remove_First_Task (This : in out Object);
+
    procedure Remove_Task (This : in out Object; Id : in Htn.Tasks.Task_Id);
    --  Remove this task from this agent TO DO list.
 

diff --git a/agpl-cr-cost_matrix.adb b/agpl-cr-cost_matrix.adb
@@ -9,6 +9,8 @@ package body Agpl.Cr.Cost_Matrix is
 
    use type Cr.Costs;
    use type Htn.Tasks.Task_Id;
+   package AC renames Agpl.Cr.Agent.Containers;
+   package TC renames Agpl.Htn.Tasks.Containers;
 
    ---------
    -- Key --
@@ -197,6 +199,32 @@ package body Agpl.Cr.Cost_Matrix is
       Create (This, Agents, Add_Starting_Tasks (Agents, Tasks));
    end Create_With_Start;
 
+   -----------------------
+   -- Create_Only_Start --
+   -----------------------
+
+   procedure Create_Only_Start
+     (This   : in out Object;
+      Agents : in Cr.Agent.Containers.Lists.List;
+      Tasks  : in Htn.Tasks.Containers.Lists.List)
+   is
+      A : AC.Lists.Cursor := Agents.First;
+      T : TC.Lists.Cursor;
+   begin
+      while AC.Lists.Has_Element (A) loop
+         T := Tasks.First;
+         while TC.Lists.Has_Element (T) loop
+            Set_Cost (This,
+                      Cr.Agent.Get_Name (AC.Lists.Element (A)),
+                      Htn.Tasks.No_Task,
+                      Htn.Tasks.Get_Id (TC.Lists.Element (T)),
+                      AC.Lists.Element (A).Get_Cost (TC.Lists.Element (T)));
+            TC.Lists.Next (T);
+         end loop;
+         AC.Lists.Next (A);
+      end loop;
+   end Create_Only_Start;
+
    --------------
    -- Get_Cost --
    --------------

diff --git a/agpl-cr-cost_matrix.ads b/agpl-cr-cost_matrix.ads
@@ -83,6 +83,12 @@ package Agpl.Cr.Cost_Matrix is
    --  agent, which should be planned as the first task for each agent.
    --  These tasks are obtained via @Add_Starting_Tasks@
 
+   procedure Create_Only_Start
+     (This   : in out Object;
+      Agents : in Cr.Agent.Containers.Lists.List;
+      Tasks  : in Htn.Tasks.Containers.Lists.List);
+   --  Only costs for initial tasks from each robot
+
    procedure Merge (Dst : in out Object; Src : in Object);
    --  Overwrite Dst costs that are also present in Src, add new ones in Src.
 

diff --git a/bellman_ford.c b/bellman_ford.c
@@ -1,3 +1,6 @@
+#include <stdio.h>
+#include <math.h>
+
 #define INFINITY ((int) pow(2, sizeof(int)*8-2)-1)
 
 typedef struct