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gl_const.h
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#ifndef GL_CONST_H
#define GL_CONST_H
#define CN_PI 3.14159265359
#define CN_SQRT_TWO 1.41421356237
#define CN_INFINITY 1000000000
#define CN_RESOLUTION 1e-6
#define CN_EPSILON 1e-9
//XML tags
#define CNS_TAG_ROOT "root"
#define CNS_TAG_MAP "map"
#define CNS_TAG_CELLSIZE "cellsize"
#define CNS_TAG_WIDTH "width"
#define CNS_TAG_HEIGHT "height"
#define CNS_TAG_STX "startx"
#define CNS_TAG_STY "starty"
#define CNS_TAG_FINX "finishx"
#define CNS_TAG_FINY "finishy"
#define CNS_TAG_GRID "grid"
#define CNS_TAG_ROW "row"
#define CNS_TAG_ALG "algorithm"
#define CNS_TAG_ST "searchtype"
#define CNS_TAG_HW "hweight"
#define CNS_TAG_MT "metrictype"
#define CNS_TAG_BT "breakingties"
#define CNS_TAG_AS "allowsqueeze"
#define CNS_TAG_AD "allowdiagonal"
#define CNS_TAG_CC "cutcorners"
#define CNS_TAG_OPT "options"
#define CNS_TAG_LOGLVL "loglevel"
#define CNS_TAG_LOGPATH "logpath"
#define CNS_TAG_LOGFN "logfilename"
#define CNS_TAG_PLANNER "planner"
#define CNS_TAG_MAXTIME "maxtime"
#define CNS_TAG_AGENTS_FILE "agents_file"
#define CNS_TAG_WITH_CAT "with_cat"
#define CNS_TAG_WITH_PH "with_perfect_h"
#define CNS_TAG_CARD_CONF "with_card_conf"
#define CNS_TAG_BYPASSING "with_bypassing"
#define CNS_TAG_WITH_MH "with_matching_h"
#define CNS_TAG_WITH_DS "with_disjoint_splitting"
#define CNS_TAG_FOCAL_W "focal_w"
#define CNS_TAG_WEIGHT "weight"
#define CNS_TAG_SFO "gen_subopt_from_opt"
#define CNS_TAG_RC "use_cat_at_root"
#define CNS_TAG_RFS "restart_frequency"
#define CNS_TAG_LL_RFS "low_level_restart_frequency"
#define CNS_TAG_CIC "cut_irrelevant_conflicts"
#define CNS_TAG_AR "aggregated_results"
#define CNS_TAG_LOW_LEVEL "low_level"
#define CNS_TAG_PP_ORDER "pp_order"
#define CNS_TAG_PAR_PATHS_1 "parallelize_paths_1"
#define CNS_TAG_PAR_PATHS_2 "parallelize_paths_2"
#define CNS_TAG_SINGLE_EX "single_execution"
#define CNS_TAG_TASKS_COUNT "tasks_count"
#define CNS_TAG_AGENTS_RANGE "agents_range"
#define CNS_TAG_MIN "min"
#define CNS_TAG_MAX "max"
#define CNS_TAG_AGENTS_STEP "agents_step"
#define CNS_TAG_FIRST_TASK "first_task"
#define CNS_TAG_LOG "log"
#define CNS_TAG_MAPFN "mapfilename"
#define CNS_TAG_TASKFN "taskfilename"
#define CNS_TAG_SUM "summary"
#define CNS_TAG_PATH "path"
#define CNS_TAG_RESULTS "results"
#define CNS_TAG_RESULT "result"
#define CNS_TAG_ITERATION "iteration"
#define CNS_TAG_SUMMARY "summary"
#define CNS_TAG_AGENT "agent"
#define CNS_TAG_LPLEVEL "lplevel"
#define CNS_TAG_HPLEVEL "hplevel"
#define CNS_TAG_SECTION "section"
#define CNS_TAG_LOWLEVEL "lowlevel"
#define CNS_TAG_STEP "step"
#define CNS_TAG_OPEN "open"
#define CNS_TAG_POINT "node"
#define CNS_TAG_CLOSE "close"
//XML tags' attributes
#define CNS_TAG_ATTR_NUMOFSTEPS "numberofsteps"
#define CNS_TAG_ATTR_NODESCREATED "nodescreated"
#define CNS_TAG_ATTR_LENGTH "length"
#define CNS_TAG_ATTR_LENGTH_SCALED "length_scaled"
#define CNS_TAG_ATTR_TIME "time"
#define CNS_TAG_ATTR_HLES "start_HL_expansions"
#define CNS_TAG_ATTR_HLNS "start_HL_nodes"
#define CNS_TAG_ATTR_HLE "HL_expansions"
#define CNS_TAG_ATTR_HLN "HL_nodes"
#define CNS_TAG_ATTR_LLE "LL_avg_expansions"
#define CNS_TAG_ATTR_LLN "LL_avg_nodes"
#define CNS_TAG_ATTR_TN "total_nodes"
#define CNS_TAG_ATTR_FHLN "final_HL_nodes"
#define CNS_TAG_ATTR_FHLNS "final_HL_nodes_start"
#define CNS_TAG_ATTR_FHLE "final_HL_expansions"
#define CNS_TAG_ATTR_FHLES "final_HL_expansions_start"
#define CNS_TAG_ATTR_FILENAME "filename"
#define CNS_TAG_ATTR_X "x"
#define CNS_TAG_ATTR_Y "y"
#define CNS_TAG_ATTR_NUM "number"
#define CNS_TAG_ATTR_ID "id"
#define CNS_TAG_ATTR_STARTX "start.x"
#define CNS_TAG_ATTR_STARTY "start.y"
#define CNS_TAG_ATTR_GOALX "goal.x"
#define CNS_TAG_ATTR_GOALY "goal.y"
#define CNS_TAG_ATTR_DUR "duration"
#define CNS_TAG_ATTR_PATH_FOUND "pathfound"
#define CNS_TAG_ATTR_COUNT "agents_count"
#define CNS_TAG_ATTR_MAKESPAN "makespan"
#define CNS_TAG_ATTR_FLOWTIME "flowtime"
#define CNS_TAG_ATTR_SC "success_count"
#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_STX "start.x"
#define CNS_TAG_ATTR_STY "start.y"
#define CNS_TAG_ATTR_FINX "finish.x"
#define CNS_TAG_ATTR_FINY "finish.y"
//Search Parameters
#define CNS_ST_CBS "cbs"
#define CNS_ST_PR "push_and_rotate"
#define CNS_ST_PP "prioritized_planning"
#define CNS_ST_ECBS "ecbs"
#define CNS_ST_ECBS_CT "ecbs-ct"
#define CNS_ST_ACBS "anytime_cbs"
#define CNS_ST_AECBS "anytime_ecbs"
#define CNS_ST_AECBS "anytime_ecbs"
#define CN_ST_CBS 0
#define CN_ST_PR 1
#define CN_ST_PP 2
#define CN_ST_ECBS_CT 3
#define CN_ST_ACBS 4
#define CN_ST_AECBS 5
#define CN_SP_ST 0
#define CNS_SP_ST_ASTAR "astar"
#define CNS_SP_ST_FS "focal_search"
#define CNS_SP_ST_SIPP "sipp"
#define CNS_SP_ST_ZSCIPP "zero_scipp"
#define CNS_SP_ST_SCIPP "scipp"
#define CNS_SP_ST_FLPASTAR "focal_lpastar"
#define CNS_SP_ST_RASTAR "replanning_astar"
#define CNS_SP_ST_RFS "replanning_focal_search"
#define CN_SP_ST_ASTAR 0
#define CN_SP_ST_TIME_ASTAR 1
#define CN_SP_ST_FS 2
#define CN_SP_ST_SIPP 3
#define CN_SP_ST_ZSCIPP 4
#define CN_SP_ST_SCIPP 5
#define CN_SP_ST_FLPASTAR 6
#define CN_SP_ST_RASTAR 7
#define CN_SP_ST_RFS 8
#define CN_SP_AD 1 //AllowDiagonal
#define CN_SP_CC 2 //CutCorners
#define CN_SP_AS 3 //AllowSqueeze
#define CN_SP_MT 4 //MetricType
#define CNS_SP_MT_DIAG "diagonal"
#define CNS_SP_MT_MANH "manhattan"
#define CNS_SP_MT_EUCL "euclidean"
#define CNS_SP_MT_CHEB "chebyshev"
#define CN_SP_MT_DIAG 0
#define CN_SP_MT_MANH 1
#define CN_SP_MT_EUCL 2
#define CN_SP_MT_CHEB 3
#define CN_SP_HW 5 //HeuristicWeight
#define CN_SP_BT 6 //BreakingTies
#define CNS_SP_BT_GMIN "g-min"
#define CNS_SP_BT_GMAX "g-max"
#define CN_SP_BT_GMIN 0
#define CN_SP_BT_GMAX 1
//Log Configuration
#define CN_LP_LEVEL 0
#define CN_LP_LEVEL_NOPE_VALUE "0"
#define CN_LP_LEVEL_NOPE_WORD "none"
#define CN_LP_LEVEL_TINY_VALUE "0.5"
#define CN_LP_LEVEL_TINY_WORD "tiny"
#define CN_LP_LEVEL_SHORT_VALUE "1"
#define CN_LP_LEVEL_SHORT_WORD "short"
#define CN_LP_LEVEL_MEDIUM_VALUE "1.5"
#define CN_LP_LEVEL_MEDIUM_WORD "medium"
#define CN_LP_LEVEL_FULL_VALUE "2"
#define CN_LP_LEVEL_FULL_WORD "full"
#define CN_LP_PATH 1
#define CN_LP_NAME 2
//Grid Cell
#define CN_GC_NOOBS 0
#define CN_GC_OBS 1
//Other
#define CNS_OTHER_PATHSELECTION "*"
#define CNS_OTHER_MATRIXSEPARATOR ' '
#define CNS_OTHER_POSITIONSEPARATOR ','
#endif