add IR test

Kei18 · Jan 15, 2021 · a1d8743 · a1d8743
1 parent ede962c
commit a1d8743
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Showing 15 changed files with 180 additions and 6 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -31,6 +31,16 @@ add_test(test_paths ./tests/test_paths.cpp)
 add_test(test_lib_solver ./tests/test_lib_solver.cpp)
 add_test(test_problem ./tests/test_problem.cpp)
 add_test(test_lib_ir ./tests/test_lib_ir.cpp)
+# solvers
+add_test(test_hca ./tests/test_hca.cpp)
+add_test(test_whca ./tests/test_whca.cpp)
+add_test(test_revisit_pp ./tests/test_revisit_pp.cpp)
+add_test(test_pibt ./tests/test_pibt.cpp)
+add_test(test_cbs ./tests/test_cbs.cpp)
+add_test(test_icbs ./tests/test_icbs.cpp)
+add_test(test_ecbs ./tests/test_ecbs.cpp)
+add_test(test_pibt_complete ./tests/test_pibt_complete.cpp)
+add_test(test_ir ./tests/test_ir.cpp)
 
 add_executable(test ${TEST_ALL_SRC})
 target_link_libraries(test lib-mapf gtest)
diff --git a/mapf/include/problem.hpp b/mapf/include/problem.hpp
@@ -43,6 +43,8 @@ class Problem
   int getMaxCompTime() { return max_comp_time; };
   std::string getInstanceFileName() { return instance; };
 
+  bool isInitializedInstance() const { return instance_initialized; }
+
   // used when making new instance file
   void makeScenFile(const std::string& output_file);
 };
diff --git a/mapf/include/solver.hpp b/mapf/include/solver.hpp
@@ -84,7 +84,7 @@ class Solver
 
 public:
   Solver(Problem* _P);
-  virtual ~Solver(){};
+  virtual ~Solver();
 
   // call start -> run -> end
   void solve();

diff --git a/mapf/src/lib_cbs.cpp b/mapf/src/lib_cbs.cpp
@@ -274,9 +274,11 @@ void LibCBS::MDD::copy(const MDD& other)
                                   return _node->t == prev_node->t &&
                                          _node->v == prev_node->v;
                                 });
-        MDDNode* new_prev_node = *itr;
-        new_prev_node->next.push_back(new_node);
-        new_node->prev.push_back(new_prev_node);
+        if (itr != new_prev_nodes.end()) {
+          auto new_prev_node = *itr;
+          new_prev_node->next.push_back(new_node);
+          new_node->prev.push_back(new_prev_node);
+        }
       }
     }
     body.push_back(new_nodes);

diff --git a/mapf/src/solver.cpp b/mapf/src/solver.cpp
@@ -20,6 +20,11 @@ Solver::Solver(Problem* _P)
   LibCBS::MDD::MT = MT;
 }
 
+Solver::~Solver()
+{
+  if (P->isInitializedInstance()) LibCBS::MDD::PURE_MDD_TABLE.clear();
+}
+
 void Solver::solve()
 {
   start();
@@ -91,10 +96,10 @@ void Solver::printResult()
             << solver_name << ", comp_time(ms)=" << std::right << std::setw(8)
             << comp_time << ", soc=" << std::right << std::setw(6)
             << solution.getSOC() << " (LB=" << std::right << std::setw(6)
-            << LB_soc << ")"
+            << getLowerBoundSOC() << ")"
             << ", makespan=" << std::right << std::setw(4)
             << solution.getMakespan() << " (LB=" << std::right << std::setw(6)
-            << LB_makespan << ")" << std::endl;
+            << getLowerBoundMakespan() << ")" << std::endl;
 }
 
 void Solver::makeLog(const std::string& logfile)

diff --git a/tests/instances/02.txt b/tests/instances/02.txt
@@ -0,0 +1,36 @@
+map_file=random-32-32-20.map
+agents=30
+seed=0
+random_problem=0
+max_timestep=100
+max_comp_time=30000
+5,1,11,7
+12,28,31,23
+9,28,11,22
+5,20,15,26
+16,4,7,18
+28,15,6,12
+25,8,18,5
+20,8,30,7
+5,11,18,28
+28,7,10,15
+28,20,14,12
+4,18,23,30
+9,31,17,23
+30,14,0,27
+22,2,13,4
+9,12,7,0
+31,9,29,25
+22,16,1,16
+17,6,24,22
+25,19,8,14
+3,12,6,14
+21,28,17,17
+3,16,4,30
+24,24,11,1
+12,18,26,0
+16,10,9,9
+15,0,0,2
+2,23,7,28
+3,22,30,3
+4,11,0,9
diff --git a/tests/test_cbs.cpp b/tests/test_cbs.cpp
@@ -0,0 +1,14 @@
+#include <cbs.hpp>
+
+#include "gtest/gtest.h"
+
+TEST(CBS, solve)
+{
+  Problem P = Problem("../tests/instances/02.txt");
+  std::unique_ptr<Solver> solver = std::make_unique<CBS>(&P);
+  solver->solve();
+
+  ASSERT_TRUE(solver->succeed());
+  ASSERT_TRUE(solver->getSolution().validate(&P));
+  ASSERT_EQ(solver->getSolution().getSOC(), 635);
+}
diff --git a/tests/test_ecbs.cpp b/tests/test_ecbs.cpp
@@ -0,0 +1,13 @@
+#include <ecbs.hpp>
+
+#include "gtest/gtest.h"
+
+TEST(ECBS, solve)
+{
+  Problem P = Problem("../tests/instances/02.txt");
+  std::unique_ptr<Solver> solver = std::make_unique<ECBS>(&P);
+  solver->solve();
+
+  ASSERT_TRUE(solver->succeed());
+  ASSERT_TRUE(solver->getSolution().validate(&P));
+}
diff --git a/tests/test_hca.cpp b/tests/test_hca.cpp
@@ -0,0 +1,13 @@
+#include <hca.hpp>
+
+#include "gtest/gtest.h"
+
+TEST(HCA, solve)
+{
+  Problem P = Problem("../tests/instances/02.txt");
+  std::unique_ptr<Solver> solver = std::make_unique<HCA>(&P);
+  solver->solve();
+
+  ASSERT_TRUE(solver->succeed());
+  ASSERT_TRUE(solver->getSolution().validate(&P));
+}
diff --git a/tests/test_icbs.cpp b/tests/test_icbs.cpp
@@ -0,0 +1,14 @@
+#include <icbs.hpp>
+
+#include "gtest/gtest.h"
+
+TEST(ICBS, solve)
+{
+  Problem P = Problem("../tests/instances/02.txt");
+  std::unique_ptr<Solver> solver = std::make_unique<ICBS>(&P);
+  solver->solve();
+
+  ASSERT_TRUE(solver->succeed());
+  ASSERT_TRUE(solver->getSolution().validate(&P));
+  ASSERT_EQ(solver->getSolution().getSOC(), 635);
+}
diff --git a/tests/test_ir.cpp b/tests/test_ir.cpp
@@ -0,0 +1,13 @@
+#include <ir.hpp>
+
+#include "gtest/gtest.h"
+
+TEST(IR, solve)
+{
+  Problem P = Problem("../tests/instances/02.txt");
+  std::unique_ptr<Solver> solver = std::make_unique<IR>(&P);
+  solver->solve();
+
+  ASSERT_TRUE(solver->succeed());
+  ASSERT_TRUE(solver->getSolution().validate(&P));
+}
diff --git a/tests/test_pibt.cpp b/tests/test_pibt.cpp
@@ -0,0 +1,13 @@
+#include <pibt.hpp>
+
+#include "gtest/gtest.h"
+
+TEST(PIBT, solve)
+{
+  Problem P = Problem("../tests/instances/02.txt");
+  std::unique_ptr<Solver> solver = std::make_unique<PIBT>(&P);
+  solver->solve();
+
+  ASSERT_TRUE(solver->succeed());
+  ASSERT_TRUE(solver->getSolution().validate(&P));
+}
diff --git a/tests/test_pibt_complete.cpp b/tests/test_pibt_complete.cpp
@@ -0,0 +1,13 @@
+#include <pibt_complete.hpp>
+
+#include "gtest/gtest.h"
+
+TEST(PIBT_COMPLETE, solve)
+{
+  Problem P = Problem("../tests/instances/02.txt");
+  std::unique_ptr<Solver> solver = std::make_unique<PIBT_COMPLETE>(&P);
+  solver->solve();
+
+  ASSERT_TRUE(solver->succeed());
+  ASSERT_TRUE(solver->getSolution().validate(&P));
+}
diff --git a/tests/test_revisit_pp.cpp b/tests/test_revisit_pp.cpp
@@ -0,0 +1,13 @@
+#include <revisit_pp.hpp>
+
+#include "gtest/gtest.h"
+
+TEST(RevisitPP, solve)
+{
+  Problem P = Problem("../tests/instances/02.txt");
+  std::unique_ptr<Solver> solver = std::make_unique<RevisitPP>(&P);
+  solver->solve();
+
+  ASSERT_TRUE(solver->succeed());
+  ASSERT_TRUE(solver->getSolution().validate(&P));
+}
diff --git a/tests/test_whca.cpp b/tests/test_whca.cpp
@@ -0,0 +1,13 @@
+#include <whca.hpp>
+
+#include "gtest/gtest.h"
+
+TEST(WHCA, solve)
+{
+  Problem P = Problem("../tests/instances/02.txt");
+  std::unique_ptr<Solver> solver = std::make_unique<WHCA>(&P);
+  solver->solve();
+
+  ASSERT_TRUE(solver->succeed());
+  ASSERT_TRUE(solver->getSolution().validate(&P));
+}