Code refresh + minor performance improvements.

A_Star_MDDs.cs

@@ -12,24 +12,22 @@ namespace mapf;
 class A_Star_MDDs : IConflictReporting
 {
     MDD[] problem;
-    Dictionary<A_Star_MDDs_Node, A_Star_MDDs_Node> closedList;
-    Run runner;
-    BinaryHeap<A_Star_MDDs_Node> openList;
+    readonly Dictionary<A_Star_MDDs_Node, A_Star_MDDs_Node> closedList = [];
+    readonly Stopwatch stopwatch;
+    readonly BinaryHeap<A_Star_MDDs_Node> openList = new();
     public int expanded;
     public int generated;
     public int conflictCount;
-    ConflictAvoidanceTable CAT;
+    readonly ConflictAvoidanceTable CAT;
 
-    public A_Star_MDDs(MDD[] problem, Run runner, ConflictAvoidanceTable CAT)
+    public A_Star_MDDs(MDD[] problem, Stopwatch stopwatch, ConflictAvoidanceTable CAT)
     {
         this.expanded = 0;
         this.generated = 0;
         A_Star_MDDs_Node root;
         this.problem = problem;
-        this.runner = runner;
+        this.stopwatch = stopwatch;
         this.CAT = CAT;
-        this.closedList = new Dictionary<A_Star_MDDs_Node, A_Star_MDDs_Node>();
-        this.openList = new BinaryHeap<A_Star_MDDs_Node>();
         MDDNode[] sRoot = new MDDNode[problem.Length];
         for (int i = 0; i < problem.Length; i++)
         {
@@ -48,7 +46,7 @@ public SinglePlan[] Solve()
 
         while (openList.Count > 0)
         {
-            if (runner.ElapsedMilliseconds() > Constants.MAX_TIME)
+            if (stopwatch.ElapsedMilliseconds > Constants.MAX_TIME)
             {
                 return null;
             }
@@ -95,7 +93,7 @@ public void Expand(A_Star_MDDs_Node node)
 
         for (int mddIndex = 0; mddIndex < this.problem.Length && intermediateNodes.Count != 0; ++mddIndex)
         {
-            if (runner.ElapsedMilliseconds() > Constants.MAX_TIME)
+            if (stopwatch.ElapsedMilliseconds > Constants.MAX_TIME)
                 return;
 
             intermediateNodes = ExpandOneAgent(intermediateNodes, mddIndex);
@@ -110,9 +108,9 @@ public void Expand(A_Star_MDDs_Node node)
             // Accumulating the conflicts count from parent to child
             // We're counting conflicts along the entire path, so the parent's conflicts count is added to the child's:
             child.conflictCounts = new Dictionary<int, int>(child.prev.conflictCounts);
-            child.conflictTimes = new Dictionary<int, List<int>>();
+            child.conflictTimes = [];
             foreach (var kvp in child.prev.conflictTimes)
-                child.conflictTimes[kvp.Key] = new List<int>(kvp.Value);
+                child.conflictTimes[kvp.Key] = [.. kvp.Value];
             child.IncrementConflictCounts(this.CAT);  // We're counting conflicts along the entire path, so the parent's conflicts count
                                                     // is added to the child's.
 
@@ -164,7 +162,7 @@ public void Expand(A_Star_MDDs_Node node)
 
     protected List<A_Star_MDDs_Node> ExpandOneAgent(List<A_Star_MDDs_Node> intermediateNodes, int mddIndex)
     {
-        var generated = new List<A_Star_MDDs_Node>();
+        List<A_Star_MDDs_Node> generated = [];
 
         // Expand the mdd node
         foreach (A_Star_MDDs_Node node in intermediateNodes)
@@ -175,7 +173,7 @@ protected List<A_Star_MDDs_Node> ExpandOneAgent(List<A_Star_MDDs_Node> intermedi
                 if (node.currentMoves != null && childMddNode.move.IsColliding(node.currentMoves))  // Can happen. We only prune partially, we don't build the full k-agent MDD.
                     continue;
 
-                var childNode = new A_Star_MDDs_Node(node, mddIndex != node.allSteps.Length - 1);
+                A_Star_MDDs_Node childNode = new(node, mddIndex != node.allSteps.Length - 1);
                 childNode.allSteps[mddIndex] = childMddNode;
 
                 // Update target conflict count and prune nodes that can't get to the target conflict count
@@ -208,19 +206,13 @@ protected List<A_Star_MDDs_Node> ExpandOneAgent(List<A_Star_MDDs_Node> intermedi
     /// <summary>
     /// </summary>
     /// <returns>Map each external agent to the number of conflicts with their path the solution has</returns>
-    public Dictionary<int, int> GetExternalConflictCounts()
-    {
-        return this.conflictCounts;
-    }
+    public Dictionary<int, int> GetExternalConflictCounts() => this.conflictCounts;
 
     /// <summary>
     /// </summary>
     /// <returns>Map each external agent to a list of times the solution has a conflict with theirs</returns>
-    public Dictionary<int, List<int>> GetConflictTimes()
-    {
-        return this.conflictTimes;
-    }
-
+    public Dictionary<int, List<int>> GetConflictTimes() => this.conflictTimes;
+
     public void Expand(A_Star_MDDs_Expander currentNode)
     {
         while (true)
@@ -256,9 +248,9 @@ public void Expand(A_Star_MDDs_Expander currentNode)
         }
     }
 
-    public int GetGenerated() { return this.generated; }
+    public int GetGenerated() => this.generated;
 
-    public int GetExpanded() { return this.expanded; }
+    public int GetExpanded() => this.expanded;
 
     private bool GoalTest(A_Star_MDDs_Node toCheck)
     {
@@ -270,30 +262,30 @@ private bool GoalTest(A_Star_MDDs_Node toCheck)
     private SinglePlan[] GetAnswer(A_Star_MDDs_Node finish)
     {
         // TODO: Move the construction of the SinglePlans to a static method in SinglePlan
-        var routes = new LinkedList<Move>[problem.Length];
+        List<Move>[] routes = new List<Move>[problem.Length];
         for (int i = 0; i < routes.Length; i++)
-            routes[i] = new LinkedList<Move>();
+            routes[i] = [];
 
         A_Star_MDDs_Node current = finish;
         while (current != null)
         {
             for (int i = 0; i < problem.Length; i++)
             {
-                routes[i].AddFirst(new Move(current.allSteps[i].move));
+                routes[i].Add(new Move(current.allSteps[i].move));
             }
             current = current.prev;
         }
 
         var ans = new SinglePlan[problem.Length];
         for (int i = 0; i < ans.Length; i++)
+        {
+            routes[i].Reverse();
             ans[i] = new SinglePlan(routes[i], i);
+        }
         return ans;
     }
 
-    private bool CheckIfLegal(MDDNode to1, MDDNode to2)
-    {
-        return to1.move.IsColliding(to2.move) == false;
-    }
+    private bool CheckIfLegal(MDDNode to1, MDDNode to2) => to1.move.IsColliding(to2.move) == false;
 
     private bool IsLegalMove(A_Star_MDDs_Node to)
     {
@@ -380,20 +372,11 @@ public virtual void IncrementConflictCounts(ConflictAvoidanceTable CAT)
     /// Returns whether all possible f values were generated from this node already
     /// </summary>
     /// <returns></returns>
-    public bool hasMoreChildren()
-    {
-        return this.targetDeltaConflictCount <= this.maxDeltaConflictCount;
-    }
+    public bool hasMoreChildren() => this.targetDeltaConflictCount <= this.maxDeltaConflictCount;
 
-    public bool IsAlreadyExpanded()
-    {
-        return alreadyExpanded;
-    }
+    public bool IsAlreadyExpanded() => alreadyExpanded;
 
-    public bool hasChildrenForCurrentDeltaConflictCount(int agentNum = 0)
-    {
-        return existsChildForConflictCount(agentNum, this.remainingDeltaConflictCount);
-    }
+    public bool hasChildrenForCurrentDeltaConflictCount(int agentNum = 0) => existsChildForConflictCount(agentNum, this.remainingDeltaConflictCount);
 
     /// <summary>
     /// An MDD child node was chosen between calculating the singleAgentDeltaConflictCounts and this call.
@@ -591,7 +574,7 @@ public override int GetHashCode()
         }
     }
 
-    public int GetDepth() { return allSteps[0].move.time; }
+    public int GetDepth() { return allSteps[0].move.Time; }
 
     /// <summary>
     /// Updates the conflictCount member according to given CATs. Table may be null.

A_Star_WithOD.cs

@@ -1,5 +1,6 @@
 using System;
 using System.Collections.Generic;
+using System.Diagnostics;
 using System.IO;
 
 namespace mapf;
@@ -20,7 +21,7 @@ public A_Star_WithOD(IHeuristicCalculator<WorldState> heuristic = null, bool mSt
 
     override protected WorldState CreateSearchRoot(int minDepth = -1, int minCost = -1, MDDNode mddNode = null)
     {
-        return new WorldStateWithOD(this.instance.agents, minDepth, minCost, mddNode);
+        return new WorldStateWithOD(this.instance.Agents, minDepth, minCost, mddNode);
     }
 
     protected override WorldState CreateSearchNode(WorldState from)
@@ -30,12 +31,12 @@ protected override WorldState CreateSearchNode(WorldState from)
 
     public override string GetName() { return base.GetName() + "+OD"; }
 
-    public override void Setup(ProblemInstance problemInstance, int minDepth, Run runner,
+    public override void Setup(ProblemInstance problemInstance, int minDepth, Stopwatch stopwatch,
                                 ConflictAvoidanceTable CAT = null,
                                 ISet<CbsConstraint> constraints = null, ISet<CbsConstraint> positiveConstraints = null,
                                 int minCost = -1, int maxCost = int.MaxValue, MDD mdd = null)
     {
-        base.Setup(problemInstance, minDepth, runner, CAT, constraints, positiveConstraints,
+        base.Setup(problemInstance, minDepth, stopwatch, CAT, constraints, positiveConstraints,
                     minCost, maxCost, mdd);
         this.expandedFullStates = 0;
         this.generatedFullStates = 0;
@@ -74,7 +75,7 @@ protected override List<WorldState> ExpandOneAgent(List<WorldState> intermediate
 
         var generated = base.ExpandOneAgent(intermediateNodes, agentIndex);
 
-        int childAgentTurn = ((parent.agentTurn + 1) % (this.instance.agents.Length));
+        int childAgentTurn = ((parent.agentTurn + 1) % (this.instance.Agents.Length));
         foreach (var node in generated)
         {
             WorldStateWithOD childNode = (WorldStateWithOD)node;
@@ -84,7 +85,7 @@ protected override List<WorldState> ExpandOneAgent(List<WorldState> intermediate
             // Makespan increases only if this is the move of the first agent. This makes sure that under a makespan
             // cost function, partial nodes have a correct cost and can even serve as goal nodes.
             if (parent.agentTurn != 0)
-                childNode.makespan--; // Cancel the increment in base
+                childNode.Makespan--; // Cancel the increment in base
         }
 
         this.alreadyExpanded = true;
@@ -121,13 +122,7 @@ public override void OutputStatistics(TextWriter output)
         output.Write(this.generatedFullStates + Run.RESULTS_DELIMITER);
     }
 
-    public override int NumStatsColumns
-    {
-        get
-        {
-            return 2 + base.NumStatsColumns;
-        }
-    }
+    public override int NumStatsColumns => 2 + base.NumStatsColumns;
 
     public override void ClearAccumulatedStatistics()
     {

AdditivePDBs.cs

@@ -32,9 +32,9 @@ public void build(ProblemInstance pi, WorldState s)
             // with the first two, then the second two, etc.
 
         PDBs = new List<PDB>();
-        if (s.allAgentsState.Length > 1)
+        if (s.AllAgentsState.Length > 1)
         {
-            for (uint i = 0; i < s.allAgentsState.Length - 1; i += 2)
+            for (uint i = 0; i < s.AllAgentsState.Length - 1; i += 2)
             {
                     // Make a list of agents we want to include together in the
                     // next additive pattern database. We specify agents by
@@ -50,7 +50,7 @@ public void build(ProblemInstance pi, WorldState s)
                     // node. This is done by passing into the state copy
                     // constructor our list of important agents.
 
-                WorldState tws = new WorldState(s.allAgentsState, agentsToConsider);
+                WorldState tws = new WorldState(s.AllAgentsState, agentsToConsider);
 
                     // Initialize, build, and save the new pattern database.
 
@@ -65,11 +65,11 @@ public void build(ProblemInstance pi, WorldState s)
             // Create single shortest path pattern database heuristics for the
             // remaining agents if we have any left over.
 
-        if (s.allAgentsState.Length % 2 == 1)
+        if (s.AllAgentsState.Length % 2 == 1)
         {
             SumIndividualCosts pdb = new SumIndividualCosts();
             List<uint> agentsToConsider = new List<uint>(1);
-            agentsToConsider.Add((uint) s.allAgentsState.Length - 1);
+            agentsToConsider.Add((uint) s.AllAgentsState.Length - 1);
             pdb.Init(pi, agentsToConsider);
             pdb.build();
             PDBs.Add(pdb);

Agent.cs

@@ -16,7 +16,7 @@ public Agent(Agent a)
     public Agent(int Goal_X, int Goal_Y, int agentNum)
     {
         this.agentNum = agentNum;
-        Goal = new Move(Goal_X, Goal_Y, Move.Direction.NO_DIRECTION);
+        Goal = new Move(Goal_X, Goal_Y, Direction.NO_DIRECTION);
     }
     public override string ToString()
     {