From 0c9d19d328b9cd9b6faef48f7a7607ab3f809bea Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Fri, 5 Jan 2018 14:46:21 +0100
Subject: [PATCH] Prune transition lists with identical consecutive transitions
+ comments.
---
src/steering-method/cross-state-optimization.cc | 10 ++++++++++
1 file changed, 10 insertions(+)
diff --git a/src/steering-method/cross-state-optimization.cc b/src/steering-method/cross-state-optimization.cc
index b7e18fea..586b85f6 100644
--- a/src/steering-method/cross-state-optimization.cc
+++ b/src/steering-method/cross-state-optimization.cc
@@ -81,6 +81,7 @@ namespace hpp {
};
typedef std::vector<state_with_depth> state_with_depths_t;
typedef std::map<StatePtr_t,state_with_depths_t> StateMap_t;
+ /// std::size_t is the index in state_with_depths_t at StateMap_t::iterator
typedef std::pair<StateMap_t::iterator, std::size_t> state_with_depth_ptr_t;
typedef std::queue<state_with_depth_ptr_t> Queue_t;
typedef std::set<EdgePtr_t> VisitedEdge_t;
@@ -139,9 +140,18 @@ namespace hpp {
_n != neighbors.end(); ++_n) {
EdgePtr_t transition = _n->second;
+ // Avoid identical consecutive transition
+ if (transition == parent.e) continue;
+
// If transition has already been visited, continue
// if (d.visitedEdge_.count (transition) == 1) continue;
+ // TODO
+ // If (transition->to() == d.s2) check if this list is feasible.
+ // - If a constraint with non-constant right hand side is present
+ // in all transitions, then the rhs from d.q1 and d.q2 should be
+ // equal
+
// Insert parent
d.queue1.push (
d.addParent (_state, transition)
--
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