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Fix access specifiers between CBS.h/ECBS.h #3

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Fix access specifiers between CBS.h/ECBS.h #3

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8 changes: 3 additions & 5 deletions inc/CBS/CBS.h
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Original file line number Diff line number Diff line change
Expand Up @@ -137,9 +137,6 @@ class CBS

int num_of_agents;



vector<Path> paths_found_initially; // contain initial paths found
// vector<MDD*> mdds_initially; // contain initial paths found
vector < SingleAgentSolver* > search_engines; // used to find (single) agents' paths and mdd

Expand All @@ -159,6 +156,7 @@ class CBS
// print and save
void printResults() const;
static void printConflicts(const HLNode &curr) ;
virtual void printPaths() const;

bool validateSolution() const;
inline int getAgentLocation(int agent_id, size_t timestep) const;
Expand All @@ -171,6 +169,8 @@ class CBS
private: // CBS only, cannot be used by ECBS
CBSNode* goal_node = nullptr;

vector<Path> paths_found_initially; // contain initial paths found

pairing_heap< CBSNode*, compare<CBSNode::compare_node_by_f> > cleanup_list; // it is called open list in ECBS
pairing_heap< CBSNode*, compare<CBSNode::compare_node_by_inadmissible_f> > open_list; // this is used for EES
pairing_heap< CBSNode*, compare<CBSNode::compare_node_by_d> > focal_list; // this is ued for both ECBS and EES
Expand All @@ -185,6 +185,4 @@ class CBS
bool generateRoot();
bool findPathForSingleAgent(CBSNode* node, int ag, int lower_bound = 0);
void classifyConflicts(CBSNode &parent);

void printPaths() const;
};
4 changes: 1 addition & 3 deletions inc/CBS/ECBS.h
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Original file line number Diff line number Diff line change
Expand Up @@ -18,6 +18,7 @@ class ECBS : public CBS
ECBSNode* getGoalNode() { return goal_node; }
void updatePaths(ECBSNode* curr);
void clear();
void printPaths() const;
private:
//ECBSNode* dummy_start = nullptr;
ECBSNode* goal_node = nullptr;
Expand All @@ -43,7 +44,4 @@ class ECBS : public CBS
bool findPathForSingleAgent(ECBSNode* node, int ag);
void classifyConflicts(ECBSNode &node);
void computeConflictPriority(shared_ptr<Conflict>& con, ECBSNode& node);

//update information
void printPaths() const;
};