accessibledata.java

2004年robotcup世界冠军源代码

package MRL.Utilities;

import yab.agent.*;
import yab.agent.object.*;

import java.util.*;

public class AccessibleData implements ConstantConditions{
    private final DisasterSpace world;
    public AccessibleData(DisasterSpace world){
        this.world = world;
        motionlessObjects = world.motionlessObjects;
        roads = world.roads;
        buildings = world.buildings;
        nodes = world.nodes;

    }

    private final List <MotionlessObject> motionlessObjects;
    private final List <Road> roads;
    private final List <Node> nodes;
    private final List <Building>buildings;

    public final Set toSiteCheck = new HashSet();

    private int time(){
        return world.time();
    }

    public void updateAccessiblity(){
        long st = System.currentTimeMillis();
        if(!shouldCheck()) return;
        checkReachable();
        long ed = System.currentTimeMillis();
     //   System.out.println(world.self + " Updating Accessibility Took : " + (ed - st) + " MilliSeconds.");
    }
    private boolean shouldCheck(){
        Road road;
        int time = time();
        for(Iterator it = roads.iterator();it.hasNext();){
            road = (Road) it.next();
            if(time - road.time() < 2  &&  PASSABLE_C.eval(road) && ! road.isReachable())
                return true;
        }
        return false;
    }

    private void addAccessibleRoad(Road road){
        if(road.isReachable()){
            return;
        }

        Collection tmp;
        tmp = road.getConnectedBuildings();
        setReachable(tmp);
//        System.out.println(world.self + " Added : " + tmp.size() + " Reachable Buildings In : " + time());
        tmp = road.neighborhood();
        setReachable(tmp);
        road.setReachable(true);
    }

    private void addAccessible(Collection set){
        for(Iterator it = set.iterator();it.hasNext();){
            addAccessibleRoad((Road)it.next());
        }
    }


    private void setReachable(Collection tmp){
        MotionlessObject mo;
        for(Iterator it = tmp.iterator();it.hasNext();){
            mo = (MotionlessObject) it.next();
            mo.setReachable(true);
        }
    }

    private void checkReachable (Node start) {
        toSiteCheck.clear();
        LinkedList open = new LinkedList();
        HashSet hasRoute = new HashSet();
        Road road = null,troad;
        boolean canContinue = false;
        for(Iterator it= start.getConnectedRoads().iterator();it.hasNext();){
            road = (Road) it.next();
            if(road.passableLinesFrom(start) > 0) {
                canContinue = true;
                break;
            }
        }
        if(! canContinue) return;
        NRT route = new NRT(road,0),nrt;
        open.add(route);
        while (true) {
            if (open.isEmpty())
                return;
            route = (NRT) open.removeFirst();
            road = route.rd;
            if( route.cost < NOT_SEEN_RD){
                if(! road.isReachable()){
                    addAccessibleRoad(road);
                }
            }
            else{
                toSiteCheck.addAll(road.getConnectedBuildings());
            }

            hasRoute.add(road);
            for(Iterator it=road.getConnectedRoads().iterator();it.hasNext();){
                troad = (Road) it.next();
                if(hasRoute.add(troad)){
                    nrt = new NRT(troad, route.cost + getCost(road,troad));
                    if(nrt.cost < IN_BLOCKS){
                        open.add(nrt);
                    }
                }
            }

        }
    }

    private void checkReachable(){
        Node outsidePosition=HumanoidAgent.outsidePosition((MovingObject)world.self);
        checkReachable(outsidePosition);
    }

    private float getCost(Road from, Road to) {
      Node between = (from.head() == to.head() || from.head() == to.tail()) ? (Node)from.head() : (Node)from.tail();
      if (to.passableLinesFrom(between) == 0)
        return IN_BLOCKS;
      return to.hasBeenSeen() ? 1 : NOT_SEEN_RD; // Cycle 3+
    }


    private class NRT {
        public final float cost;
        public final Road rd;
        public NRT(Road rd , float cost){
            this.cost = cost;
            this.rd = rd;
        }
    }
}