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. 2019 Nov 25;19(23):5164. doi: 10.3390/s19235164
Algorithm 2. Pseudocode of the assignment method for the heterogeneous task distance matrix.
Input: RoadInfo, TaskInfo;
Output: VehiRoute[];
dIterNum = pow(2, this->iTaskLineNum);
for all dIterNum do
 iBinary[iDigits]=BinaryConver(dIterNum);
 Task[TaskNum]=Trans(iBinary[iDigits]);
  for all Task[i] do
  for all Task[j] do
   Dijkstra(Task[i], Task[j]);
   GET dMatrix[i][j];
  end for
 end for
 while (true)
  Hungarian(dMatrix[i][j]);
  Obtain MinRuting[];
  If (Not Feasible){Modify(dMatrix[i][j])}
  Else {break;}
 end while
end for
Compare each Minruting[];
Obtain VehiRoute[];