From 40b094b9f998c2af5d25bb8c53a85fde7defaa44 Mon Sep 17 00:00:00 2001
From: Le Quang Anh <43576719+Toefinder@users.noreply.github.com>
Date: Wed, 2 Feb 2022 17:16:09 +0100
Subject: [PATCH] [StatesPathFinder] Avoid loops in state sequence
Currently for most of the problems we look at, loops (an edge going into
the same state) are not useful. However, these loops appear in a lot of
state sequences considered by the algorithm and slow it down
significantly. Until we encounter a problem where loops are necessary to
accomplish the task, we should just ignore them.
---
src/path-planner/states-path-finder.cc | 7 +++++++
1 file changed, 7 insertions(+)
diff --git a/src/path-planner/states-path-finder.cc b/src/path-planner/states-path-finder.cc
index e2dd79f..62819f7 100644
--- a/src/path-planner/states-path-finder.cc
+++ b/src/path-planner/states-path-finder.cc
@@ -237,6 +237,10 @@ namespace hpp {
return false;
}
+ static bool isLoopTransition (const graph::EdgePtr_t& transition) {
+ return transition->stateTo() == transition->stateFrom();
+ }
+
void StatesPathFinder::gatherGraphConstraints ()
{
typedef graph::Edge Edge;
@@ -315,6 +319,9 @@ namespace hpp {
// Avoid identical consecutive transition
if (transition == parent.e) continue;
+ // Avoid loop transitions
+ if (isLoopTransition(transition)) continue;
+
// Insert parent
d.queue1.push (
d.addParent (_state, transition)
--
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