[tryuan99]

This PR adds the swarm algorithm interfaces and base implementations, according to the design doc (https://docs.google.com/document/d/1FINN_yEZ02AkopUn-ev0bzoi4oKenHYyIpEO6bSFrlE/edit?usp=sharing). There is no effect on the current state of the simulator as I have just renamed existing conflicting classnames and struct names with a Legacy suffix. The only unit-testable class is the Cluster class, so I have added unit tests for that class.

[gemini-code-assist]

Summary of Changes

Hello @tryuan99, I'm Gemini Code Assist¹! I'm currently reviewing this pull request and will post my feedback shortly. In the meantime, here's a summary to help you and other reviewers quickly get up to speed!

This pull request lays the groundwork for a more robust and scalable algorithm framework by introducing a set of well-defined interfaces and base implementations for clustering, prediction, and assignment algorithms. The changes involve a significant refactoring of existing components, moving them to 'Legacy' versions and establishing a new, cleaner architecture that leverages a hierarchical object model. This strategic update aims to facilitate the integration of future swarm algorithms without disrupting current simulator functionality.

Highlights

• New Algorithm Interfaces and Base Implementations: Introduced new interfaces (IClusterer, IPredictor, IAssignment) and their corresponding base abstract classes (ClustererBase, PredictorBase, AssignmentBase) to establish a modular and extensible architecture for swarm algorithms. This aligns with the design document for future algorithm development.
• Legacy Class Renaming: Existing algorithm-related classes and structs (e.g., Cluster, IClusterer, PredictorState, IPredictor, IAssignment, AssignmentItem) have been renamed with a Legacy suffix (e.g., ClusterLegacy, IClustererLegacy) to prevent naming conflicts and clearly delineate the older implementations from the new interface-driven architecture.
• Refactored Cluster Class: The Cluster class has been significantly refactored. The original functionality was moved to ClusterLegacy, and a new Cluster class was introduced that inherits from HierarchicalBase, simplifying its responsibilities and integrating with the new hierarchical object model.
• New Hierarchical Object Model Integration: The new algorithm interfaces and base classes now operate on IHierarchical objects, promoting a more generic and reusable design. A FixedHierarchical class was also added for testing purposes.
• Updated Existing Implementations: Existing concrete implementations of clustering (AgglomerativeClusterer, KMeansClusterer), prediction (LinearExtrapolator), and assignment (MaxSpeedAssignment, RoundRobinAssignment, ThreatAssignment) have been updated to reference the *Legacy versions of the interfaces and classes they previously implemented or used.
• Unit Test Updates: New unit tests for the ClusterLegacy class were added, and the existing ClusterTests were updated to reflect the changes in the Cluster class and its new dependency on FixedHierarchical.

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[gemini-code-assist]

Code Review

This PR introduces a new set of interfaces and base classes for swarm algorithms, which is a great step towards a more modular and testable architecture. The separation of legacy code is clean. My review focuses on the design of the new interfaces and classes.

I have two main suggestions:

1. The new Cluster class has a manual caching mechanism for its centroid, which is redundant with the Position property from HierarchicalBase and can lead to bugs from stale data. I've suggested a refactoring to simplify the class and make it more robust by removing the manual cache.
2. The new interfaces IClusterer, IPredictor, and IAssignment use a stateful pattern where a void method is called to perform a calculation and the result is then retrieved from a property. I've suggested changing these methods to return their results directly, which leads to a cleaner, more functional, and less error-prone API.

Details and code suggestions are in the specific comments.

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🧱 Stack PR · Base of stack

Stack Structure:

• [Algorithm] Add algorithm interfaces and base implementations #97 titan/algorithm_interfaces ← YOU ARE HERE