focalsearch.h

#ifndef FOCALSEARCH_H
#define FOCALSEARCH_H

#include "astar.h"
#include "fs_node.h"

template <typename NodeType = FSNode>
class FocalSearch : virtual public Astar<NodeType>
{
public:
    FocalSearch(bool WithTime = false, double FocalW = 1.0, double HW = 1.0, bool BT = true);
    FocalSearch(FocalSearch& other) = default;
    FocalSearch& operator=(FocalSearch& other) = default;
    FocalSearch(FocalSearch&& other) = default;
    FocalSearch& operator=(FocalSearch&& other) = default;
    virtual ~FocalSearch() {}
    virtual void updateFocalW(double newFocalW, const Map& map) override;
    virtual int getSize() override {return this->open.size() + this->close.size() + focal.size();};
    void clearLists() override;

    static int Time;

protected:
    bool checkOpenEmpty() override;
    NodeType getCur(const Map& map) override;
    virtual void removeCur(const NodeType& cur, const Map& map) override;
    bool updateFocal(const NodeType& neigh, const Map& map) override;
    double getMinFocalF() override;
    virtual void setHC(NodeType &neigh, const NodeType &cur,
                       const ConflictAvoidanceTable &CAT, bool isGoal) override;
    virtual int getFocalSize() override { return focal.size(); }
    virtual void subtractFutureConflicts(NodeType &node) override { node.hc -= node.futureConflictsCount; }
    virtual void addFutureConflicts(NodeType &neigh, const ConflictAvoidanceTable &CAT);

    virtual void addTime(int time) { Time += time; };

    SearchQueue<NodeType> focal;
    std::multiset<double> focalF;
    double focalW;

    virtual void checkFocal() {
        return;
        std::multiset<double> realFocalF;
        for (auto it = focal.sortByKey.begin(); it != focal.sortByKey.end(); ++it) {
            realFocalF.insert(it->F);
        }
        if (realFocalF != focalF) {
            std::cout << "qqqqqqqqqq" << std::endl;
        }
    };
};

#endif // FOCALSEARCH_H