pub fn solve<A: agent::Agent, PS: planner::ProblemSpace + planner::SharedStates>(
    agent: &A,
    ps: &PS,
    start: PS::State,
    goal: PS::State,
) -> Vec<PS::State> {
    let mut done: bool = false;

    // Open and closed state lists.
    let mut open: collections::BinaryHeap<util::HeapEntry<PS::State>> =
        collections::BinaryHeap::new();
    let mut closed: collections::HashMap<PS::State, f64> = collections::HashMap::new();
    let mut data: collections::HashMap<PS::State, StateValues> = collections::HashMap::new();

    // insert start into closed...
    data.insert(
        start,
        StateValues {
            g_val: 0.0,
            h_val: ps.heuristic(&start, &goal),
        },
    );
    open.push(util::HeapEntry::new_entry(start, (0.0, 0.0)));

    while !done {
        let revd: Vec<String> = agent.retrieve();
        if !revd.is_empty() {
            for msg in revd {
                let s: (u8, PS::State, Vec<f64>) = ps.deserialize(msg);
                if s.1 == goal {
                    done = true;
                    break;
                }
                process_message(
                    ps,
                    s.1,
                    StateValues {
                        g_val: s.2[0],
                        h_val: s.2[1],
                    },
                    goal,
                    &mut data,
                    &mut open,
                    &mut closed,
                );
            }
            if done {
                break;
            }
        }
        if !open.is_empty() {
            let s: util::HeapEntry<PS::State> = open.pop().unwrap();
            done = expand(ps, agent, s.state, goal, &mut data, &mut open, &mut closed);
        }
        thread::sleep(time::Duration::from_millis(250));
    }
    traceback(agent, ps, start, goal, closed)
}
///
/// Find a plan for multiple collaborative systems/agents.
///
Find a plan for multiple collaborative systems/agents.
Find a plan for multiple collaborative systems / agents .
pub fn solve<A: agent::Agent, PS: planner::ProblemSpace + planner::SharedStates>(
    agent: &A,
    ps: &PS,
    start: PS::State,
    goal: PS::State,
) -> Vec<PS::State> {
    let mut done: bool = false;
    // Open and closed state lists.
    let mut open: collections::BinaryHeap<util::HeapEntry<PS::State>> =
        collections::BinaryHeap::new();
    let mut closed: collections::HashMap<PS::State, f64> = collections::HashMap::new();
    let mut data: collections::HashMap<PS::State, StateValues> = collections::HashMap::new();
    // insert start into closed...
    data.insert(
        start,
        StateValues {
            g_val: 0.0,
            h_val: ps.heuristic(&start, &goal),
        },
    );
    open.push(util::HeapEntry::new_entry(start, (0.0, 0.0)));
    while !done {
        let revd: Vec<String> = agent.retrieve();
        if !revd.is_empty() {
            for msg in revd {
                let s: (u8, PS::State, Vec<f64>) = ps.deserialize(msg);
                if s.1 == goal {
                    done = true;
                    break;
                }
                process_message(
                    ps,
                    s.1,
                    StateValues {
                        g_val: s.2[0],
                        h_val: s.2[1],
                    },
                    goal,
                    &mut data,
                    &mut open,
                    &mut closed,
                );
            }
            if done {
                break;
            }
        }
        if !open.is_empty() {
            let s: util::HeapEntry<PS::State> = open.pop().unwrap();
            done = expand(ps, agent, s.state, goal, &mut data, &mut open, &mut closed);
        }
        thread::sleep(time::Duration::from_millis(250));
    }
    traceback(agent, ps, start, goal, closed)
}
pub fn solve < A : agent :: Agent , PS : planner :: ProblemSpace + planner :: SharedStates > ( agent : & A , ps : & PS , start : PS :: State , goal : PS :: State , ) -> Vec < PS :: State > { let mut done : bool = false ; // Open and closed state lists. let mut open : collections :: BinaryHeap < util :: HeapEntry < PS :: State > > = collections :: BinaryHeap :: new ( ) ; let mut closed : collections :: HashMap < PS :: State , f64 > = collections :: HashMap :: new ( ) ; let mut data : collections :: HashMap < PS :: State , StateValues > = collections :: HashMap :: new ( ) ; // insert start into closed... data . insert ( start , StateValues { g_val : 0.0 , h_val : ps . heuristic ( & start , & goal ) , } , ) ; open . push ( util :: HeapEntry :: new_entry ( start , ( 0.0 , 0.0 ) ) ) ; while ! done { let revd : Vec < String > = agent . retrieve ( ) ; if ! revd . is_empty ( ) { for msg in revd { let s : ( u8 , PS :: State , Vec < f64 > ) = ps . deserialize ( msg ) ; if s . 1 == goal { done = true ; break ; } process_message ( ps , s . 1 , StateValues { g_val : s . 2 [ 0 ] , h_val : s . 2 [ 1 ] , } , goal , & mut data , & mut open , & mut closed , ) ; } if done { break ; } } if ! open . is_empty ( ) { let s : util :: HeapEntry < PS :: State > = open . pop ( ) . unwrap ( ) ; done = expand ( ps , agent , s . state , goal , & mut data , & mut open , & mut closed ) ; } thread :: sleep ( time :: Duration :: from_millis ( 250 ) ) ; } traceback ( agent , ps , start , goal , closed ) }
Find a plan for multiple collaborative systems/agents.
Find a plan for multiple collaborative systems / agents .
agent
&A
ps
&PS
start
PS::State
goal
PS::State
agent
&A
ps
&PS
start
PS::State
goal
PS::State