Optional check for blocking.

PaoloForte95 · Sep 27, 2023 · f91fd9f · f91fd9f
1 parent 25d8cc1
commit f91fd9f
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Showing 2 changed files with 22 additions and 2 deletions.
diff --git a/src/main/java/se/oru/assignment/assignment_oru/problems/ConstraintOptimizationProblem.java b/src/main/java/se/oru/assignment/assignment_oru/problems/ConstraintOptimizationProblem.java
@@ -73,6 +73,8 @@ public class ConstraintOptimizationProblem extends ConstraintOptimization{
 
 		protected int numAllocation;
 
+		protected boolean checkBlocking;
+
 		//Paths 
 		protected HashMap<Integer, PoseSteering[]> pathsToTargetGoal =  new HashMap<Integer, PoseSteering[]>();
 		protected ArrayList <SpatialEnvelope> pathsDrivingRobots = new ArrayList <SpatialEnvelope>();
@@ -198,6 +200,7 @@ public ConstraintOptimizationProblem(boolean instanceFleetMaster){
 			}
 			metaCSPLogger = MetaCSPLogging.getLogger(this.getClass());
 			numAllocation = 1;
+			checkBlocking = false;
 
 		}
 
@@ -1098,11 +1101,17 @@ protected double[][][] computeTardiness(double [][][]PAll) {
 
 			return BFunction;
 		}
+
+		public void checkforBlocking(){
+			this.checkBlocking = true;
+		}
 
 
 		public int [][][] findOptimalAssignment(AbstractOptimizationAlgorithm optimizationSolver){
 			realRobotsIDs = coordinator.getIdleRobots();
-			checkOnBlocking();
+			if(checkBlocking){
+				checkOnBlocking();
+			}
 			return super.findOptimalAssignment(optimizationSolver);
 		}
 

diff --git a/src/main/java/se/oru/assignment/assignment_oru/problems/LinearOptimizationProblem.java b/src/main/java/se/oru/assignment/assignment_oru/problems/LinearOptimizationProblem.java
@@ -72,6 +72,8 @@ public class LinearOptimizationProblem extends LinearOptimization{
 
 		protected int numAllocation;
 
+		protected boolean checkBlocking;
+
 		//Paths 
 		protected HashMap<Integer, PoseSteering[]> pathsToTargetGoal =  new HashMap<Integer, PoseSteering[]>();
 		protected ArrayList <SpatialEnvelope> pathsDrivingRobots = new ArrayList <SpatialEnvelope>();
@@ -91,6 +93,8 @@ public class LinearOptimizationProblem extends LinearOptimization{
 		protected String scenario;
 		protected boolean saveFutureAllocations = false;
 
+
+
 		/**
 		 * The default footprint used for robots if none is specified.
 		 * NOTE: coordinates in footprints must be given in in CCW or CW order. 
@@ -197,6 +201,7 @@ public LinearOptimizationProblem(boolean instanceFleetMaster){
 			}
 			metaCSPLogger = MetaCSPLogging.getLogger(this.getClass());
 			numAllocation = 1;
+			checkBlocking = false;
 
 		}
 
@@ -1100,11 +1105,17 @@ protected double[][][] computeTardiness(double [][][]PAll) {
 
 			return BFunction;
 		}
+
+		public void checkforBlocking(){
+			this.checkBlocking = true;
+		}
 
 
 		public int [][][] findOptimalAssignment(AbstractOptimizationAlgorithm optimizationSolver){
 			realRobotsIDs = coordinator.getIdleRobots();
-			checkOnBlocking();
+			if(checkBlocking){
+				checkOnBlocking();
+			}
 			return super.findOptimalAssignment(optimizationSolver);
 		}