Fix cost arbitrator called twice #patch #77
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@orzechow Just FYI: We ran into an issue because of this. I wouldn't necessarily say that it's an error in the library but something to be aware of when using it. When using a behavior component with a cost arbitrator, this change will result in the following order of calls on the behavior component, when it has never been called before: During the sorting of the cost estimators options:
When actually calling the command:
In our specific behavior component, we set a class variable required for the commitment condition during I suppose having these side effects in the |
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.