Fix cost arbitrator called twice #patch #77
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Closes #62
The
CostArbitratorcallsgetCommandtwice. Once ingetAndVerifyCommandlike all verifier types but also once insortOptionsByGivenPolicysince the command is required to estimate the cost.The call to
getCommandcan potentially be quite expensive, though. Therefore, this PR adds a cache for it inside theArbitrator::Optionclass. When computing a command, the arbitrator now doesn't call the behavior directly anymore but instead calls the wrapper inside theOptionclass. Should the function be called two or more times inside a single time step, the cached command is returned and the behavior is not called again.