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Bugfix/uds #60

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2eda405
export uds changes from other branch to this focus branch
heavenfall May 7, 2026
2286972
also export uds
heavenfall May 7, 2026
a64d01e
revert change
heavenfall May 7, 2026
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105 changes: 104 additions & 1 deletion include/warthog/search/uds_traits.h
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Original file line number Diff line number Diff line change
Expand Up @@ -14,6 +14,7 @@

#include "search_metrics.h"
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@dharabor dharabor May 12, 2026

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No header, no description of what is being implemented.

#include <warthog/io/log.h>
#include <warthog/util/template.h>

namespace warthog::search
{
Expand Down Expand Up @@ -133,7 +134,7 @@ enum class reopen_policy

// decide whether to renopen nodes already expanded (when their g-value
// can be improved). we handle the positive case via specialisation.
template<reopen_policy RO>
template<reopen_policy RP>
inline bool
reopen()
{
Expand All @@ -147,6 +148,108 @@ reopen<reopen_policy::yes>()
return true;
}

struct uds_default_traits
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@dharabor dharabor May 12, 2026

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No description of what the traits do?

{
// using node = std::tuple<>;
// using observer = std::tuple<>;
static constexpr admissibility_criteria ac = admissibility_criteria::any;
static constexpr feasibility_criteria fc
= feasibility_criteria::until_exhaustion;
static constexpr reopen_policy rp = reopen_policy::no;
};

template<
typename N = search_node, typename L = std::tuple<>,
admissibility_criteria AC = admissibility_criteria::any,
feasibility_criteria FC = feasibility_criteria::until_exhaustion,
reopen_policy RP = reopen_policy::no>
struct uds_traits
{
using node = N;
using observer = L;
static constexpr admissibility_criteria ac = AC;
static constexpr feasibility_criteria fc = FC;
static constexpr reopen_policy rp = RP;
};

namespace details
{

template<typename Traits>
struct uds_trait_node
{
using type = search_node;
};
template<typename Traits>
requires requires { typename Traits::node; }
struct uds_trait_node<Traits>
{
using type = typename Traits::node;
};

template<typename Traits>
struct uds_trait_observer
{
using type = search_node;
};
template<typename Traits>
requires requires { typename Traits::observer; }
struct uds_trait_observer<Traits>
{
using type = typename Traits::observer;
};

} // namespace details

template<typename Traits>
using uds_trait_node = typename details::uds_trait_node<Traits>::type;

template<typename Traits>
using uds_trait_observer = typename details::uds_trait_observer<Traits>::type;

template<typename Traits>
inline consteval admissibility_criteria
uds_trait_ac() noexcept
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@dharabor dharabor May 12, 2026

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Missing a description. what does this do? (please add comments similar to reopen policy)

{
if constexpr(requires {
{
Traits::ac
} -> util::same_as_rmref<admissibility_criteria>;
})
{
return Traits::ac;
}
else { return admissibility_criteria::any; }
}

template<typename Traits>
inline consteval feasibility_criteria
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Please add comments to describe what this does

uds_trait_fc() noexcept
{
if constexpr(requires {
{
Traits::fc
} -> util::same_as_rmref<feasibility_criteria>;
})
{
return Traits::fc;
}
else { return feasibility_criteria::until_exhaustion; }
}

template<typename Traits>
inline consteval reopen_policy
uds_trait_rp() noexcept
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Please add comments to describe what this does

{
if constexpr(requires {
{ Traits::rp } -> util::same_as_rmref<reopen_policy>;
})
{
return Traits::rp;
}
else { return reopen_policy::no; }
}

} // namespace warthog::search

#endif // WARTHOG_SEARCH_UDS_TRAITS_H
51 changes: 36 additions & 15 deletions include/warthog/search/unidirectional_search.h
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Original file line number Diff line number Diff line change
Expand Up @@ -41,20 +41,30 @@ namespace warthog::search
// (default: search for any solution, until OPEN is exhausted)
template<
typename H, typename E, typename Q = util::pqueue_min,
typename L = std::tuple<>,
admissibility_criteria AC = admissibility_criteria::any,
feasibility_criteria FC = feasibility_criteria::until_exhaustion,
reopen_policy RP = reopen_policy::no>
class unidirectional_search
typename Traits = uds_default_traits>
class unidirectional_search_full
{
public:
unidirectional_search(
using traits = Traits;
using search_node = uds_trait_node<Traits>;
using L = uds_trait_observer<Traits>;

static constexpr admissibility_criteria AC = uds_trait_ac<Traits>();
static constexpr feasibility_criteria FC = uds_trait_fc<Traits>();
static constexpr reopen_policy RP = uds_trait_rp<Traits>();

unidirectional_search_full(
H* heuristic, E* expander, Q* queue, L listeners = L{})
: heuristic_(heuristic), expander_(expander), open_(queue),
listeners_(listeners)
{ }
unidirectional_search_full(const unidirectional_search_full& other)
= delete;
~unidirectional_search_full() = default;

~unidirectional_search() { }
unidirectional_search_full&
operator=(const unidirectional_search_full& other)
= delete;

void
get_pathcost(problem_instance* pi, search_parameters* par, solution* sol)
Expand Down Expand Up @@ -138,14 +148,6 @@ class unidirectional_search
Q* open_;
[[no_unique_address]] L listeners_;

// no copy ctor
unidirectional_search(const unidirectional_search& other) { }
unidirectional_search&
operator=(const unidirectional_search& other)
{
return *this;
}

/**
* Initialise a new 'search_node' for the ongoing search given the parent
* node (@param current).
Expand Down Expand Up @@ -315,6 +317,25 @@ class unidirectional_search
}
};

// Keep for backward compatibility.
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@dharabor dharabor May 12, 2026

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There's not much point to backwards compatibility at this point. The only affected project is warthog-jps, which we maintain. Might as well fix both.

// Done as class instead of using to support user-defined deduction
template<
typename H, typename E, typename Q = util::pqueue_min,
typename L = std::tuple<>,
admissibility_criteria AC = admissibility_criteria::any,
feasibility_criteria FC = feasibility_criteria::until_exhaustion,
reopen_policy RP = reopen_policy::no>
class unidirectional_search
: public unidirectional_search_full<
H, E, Q, uds_traits<search_node, L, AC, FC, RP>>
{
public:
using unidirectional_search_full = unidirectional_search_full<
H, E, Q, uds_traits<search_node, L, AC, FC, RP>>;

using unidirectional_search_full::unidirectional_search_full;
};

template<
typename H, typename E, typename Q = util::pqueue_min,
typename L = std::tuple<>>
Expand Down
7 changes: 7 additions & 0 deletions include/warthog/util/template.h
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Original file line number Diff line number Diff line change
Expand Up @@ -108,6 +108,13 @@ choose_integer_sequence(auto value, TemplateFunc&& tfunc)
value, std::forward<TemplateFunc>(tfunc));
}

template<typename T, typename T2>
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@dharabor dharabor May 12, 2026

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Not clear what we're doing here. please add some comments

concept same_as_rmref
= std::same_as<std::remove_reference_t<T>, std::remove_reference_t<T2>>;
template<typename T, typename T2>
concept same_as_rmcvref
= std::same_as<std::remove_cvref_t<T>, std::remove_cvref_t<T2>>;

} // namespace warthog::util

#endif // WARTHOG_UTIL_CAST_H