forked from PathPlanning/Continuous-CBS
/
const.h
70 lines (67 loc) · 3.09 KB
/
const.h
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
#ifndef CONST_H
#define CONST_H
#define CN_USE_CARDINAL 0 //1 - true, 0 - false
#define CN_HLH_TYPE 0 // 0 - no hlh, 1 - solve lpp by simplex, 2 - greedly take disjoint conflicts
#define CN_USE_DS 0 //1 - true, 0 - false
#define CN_TIMELIMIT 30 // in seconds
#define CN_AGENT_SIZE sqrt(2.0)/4.0 //radius; only values in range (0; 0.5] are supported
#define CN_CONNECTEDNESS 2 // possible variants 2,3,4,5
#define CN_PRECISION 1e-6
#define CN_FOCAL_WEIGHT 1.0 // experimental function, focal is supported only on the high-level
#define CN_OBSTL 1
#define CN_EPSILON 1e-8
#define CN_INFINITY 1e+8
#define CN_LOG "_log"
//XML file tags
#define CNS_TAG_ROOT "root"
#define CNS_TAG_ALGORITHM "algorithm"
#define CNS_TAG_MAP "map"
#define CNS_TAG_AGENTS "agents"
#define CNS_TAG_HEIGHT "height"
#define CNS_TAG_WIDTH "width"
#define CNS_TAG_START_I "start_i"
#define CNS_TAG_START_J "start_j"
#define CNS_TAG_START_ID "start_id"
#define CNS_TAG_GOAL_I "goal_i"
#define CNS_TAG_GOAL_J "goal_j"
#define CNS_TAG_GOAL_ID "goal_id"
#define CNS_TAG_GRID "grid"
#define CNS_TAG_ROW "row"
#define CNS_TAG_WEIGHT "weight"
#define CNS_TAG_OPTIONS "options"
#define CNS_TAG_LOGLVL "loglevel"
#define CNS_TAG_LOG "log"
#define CNS_TAG_MAPFN "mapfilename"
#define CNS_TAG_SUM "summary"
#define CNS_TAG_PATH "path"
#define CNS_TAG_ROW "row"
#define CNS_TAG_LPLEVEL "lplevel"
#define CNS_TAG_HPLEVEL "hplevel"
#define CNS_TAG_AGENT "agent"
#define CNS_TAG_LOWLEVEL "lowlevel"
#define CNS_TAG_SECTION "section"
#define CNS_TAG_STEP "step"
#define CNS_TAG_OPEN "open"
#define CNS_TAG_NODE "node"
#define CNS_TAG_CLOSE "close"
#define CNS_TAG_ATTR_NUMOFSTEPS "numberofsteps"
#define CNS_TAG_ATTR_NODESCREATED "totalnodescreated"
#define CNS_TAG_ATTR_LENGTH "length"
#define CNS_TAG_ATTR_DURATION "duration"
#define CNS_TAG_ATTR_PATHLENGTH "pathlength"
#define CNS_TAG_ATTR_TIME "time"
#define CNS_TAG_ATTR_X "x"
#define CNS_TAG_ATTR_Y "y"
#define CNS_TAG_ATTR_NUM "number"
#define CNS_TAG_ATTR_F "f"
#define CNS_TAG_ATTR_G "g"
#define CNS_TAG_ATTR_PARX "parent_x"
#define CNS_TAG_ATTR_PARY "parent_y"
#define CNS_TAG_ATTR_VALUE "value"
#define CNS_TAG_ATTR_SX "start.x"
#define CNS_TAG_ATTR_SY "start.y"
#define CNS_TAG_ATTR_FX "finish.x"
#define CNS_TAG_ATTR_FY "finish.y"
#define CNS_TAG_ATTR_FLOWTIME "flowtime"
#define CNS_TAG_ATTR_MAKESPAN "makespan"
#endif // CONST_H