benchmark tests

vcoppe · Jan 11, 2024 · fbee244 · fbee244
1 parent e6759df
commit fbee244
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Showing 10 changed files with 5,977 additions and 34 deletions.
diff --git a/examples/simple.rs b/examples/simple.rs
@@ -27,11 +27,11 @@ fn main() {
 
 fn get_model() -> Model {
     let (graph, mut cbs, config, agent_size) = get_cbs_from_files(
-        "resources/instances/grid_map.xml",
-        "resources/instances/task.xml",
+        "resources/instances/den520d_random/map.xml",
+        "resources/instances/den520d_random/den520d-random-20.xml",
         "resources/config/config-2.xml",
+        29,
     );
-
     let limits = (0..graph.num_nodes())
         .map(|id| {
             let node = graph.get_node(GraphNodeId(id));

diff --git a/resources/config/config-2.xml b/resources/config/config-2.xml
@@ -7,7 +7,7 @@
         <connectedness>2</connectedness>
         <focal_weight>1.0</focal_weight>
         <agent_size>0.4</agent_size>
-        <timelimit>5</timelimit>
+        <timelimit>30</timelimit>
         <precision>0.000001</precision>
     </algorithm>
 </root>
diff --git a/resources/config/config-3.xml b/resources/config/config-3.xml
@@ -7,7 +7,7 @@
         <connectedness>3</connectedness>
         <focal_weight>1.0</focal_weight>
         <agent_size>0.4</agent_size>
-        <timelimit>5</timelimit>
+        <timelimit>30</timelimit>
         <precision>0.000001</precision>
     </algorithm>
 </root>
diff --git a/resources/config/config-4.xml b/resources/config/config-4.xml
@@ -7,7 +7,7 @@
         <connectedness>4</connectedness>
         <focal_weight>1.0</focal_weight>
         <agent_size>0.4</agent_size>
-        <timelimit>5</timelimit>
+        <timelimit>30</timelimit>
         <precision>0.000001</precision>
     </algorithm>
 </root>
diff --git a/resources/config/config-5.xml b/resources/config/config-5.xml
@@ -7,7 +7,7 @@
         <connectedness>5</connectedness>
         <focal_weight>1.0</focal_weight>
         <agent_size>0.4</agent_size>
-        <timelimit>5</timelimit>
+        <timelimit>30</timelimit>
         <precision>0.000001</precision>
     </algorithm>
 </root>
diff --git a/src/search/cbs/cbs.rs b/src/search/cbs/cbs.rs
@@ -618,6 +618,10 @@ where
         let mut delayed_move = moves[0].clone();
         while hi > lo + config.precision {
             let mid = lo + (hi - lo) / 2.0;
+            if mid <= lo || mid >= hi {
+                // Can happen due to floating point precision
+                break;
+            }
 
             delayed_move.interval.start = mid;
             delayed_move.interval.end = mid + (moves[0].interval.end - moves[0].interval.start);
@@ -913,14 +917,6 @@ where
     pub fn add_frozen(&mut self, agent: usize, solution: Solution<Arc<SippState<S, C>>, A, C, DC>) {
         self.frozen.insert(agent, solution);
     }
-
-    pub fn use_n_agents(&mut self, n_agents: usize) {
-        for agent in n_agents..self.n_agents {
-            self.frozen.remove(&agent);
-        }
-        self.n_agents = n_agents;
-        self.tasks.truncate(n_agents);
-    }
 }
 
 /// A node in the Conflict-Based Search tree.