// Use this for initialization
public override void Init(AnimationAnalyzer animAnalyzer, NeighbourAgents neighborhood, NeighbourObstacles obstacles)
{
analyzer = animAnalyzer;
if (analyzer != null && !analyzer.initialized)
{
analyzer.Init();
}
storedPlan = new List <FootstepPlanningAction>();
outputPlan = new Stack <DefaultAction>();
domainList = new List <PlanningDomainBase>();
gpd = new GridPlanningDomain(analyzer);
//gtd = new GridTimeDomain(analyzer, obstacles);
gtd = new GridTimeDomain(obstacles, neighborhood);
fpd = new FootstepPlanningDomain(analyzer, neighborhood, obstacles);
if (useGridDomain)
{
domainList.Add(gpd);
//domainList.Add(gpd);
}
if (useGridTimeDomain)
{
domainList.Add(gtd);
//domainList.Add(gtd);
}
if (useFootstepDomain)
{
domainList.Add(fpd);
//domainList.Add(fpd);
}
planner = new BestFirstSearchPlanner();
planner.init(ref domainList, MaxNumberOfNodes);
initialized = true;
currentState = null;
isPlanComputed = false;
planChanged = false;
goalMeshRenderer = goalStateTransform.gameObject.GetComponent("MeshRenderer") as MeshRenderer;
currentGoal = goalStateTransform.position;
goalReached = false;
}
// Use this for initialization
public override void Init(AnimationAnalyzer animAnalyzer, NeighbourAgents neighborhood, NeighbourObstacles obstacles)
{
analyzer = animAnalyzer;
if (analyzer != null && !analyzer.initialized)
analyzer.Init();
storedPlan = new List<FootstepPlanningAction>();
outputPlan = new Stack<DefaultAction>();
domainList = new List<PlanningDomainBase>();
gpd = new GridPlanningDomain(analyzer);
//gtd = new GridTimeDomain(analyzer, obstacles);
gtd = new GridTimeDomain(obstacles,neighborhood);
fpd = new FootstepPlanningDomain(analyzer, neighborhood, obstacles);
if (useGridDomain)
{
domainList.Add(gpd);
//domainList.Add(gpd);
}
if (useGridTimeDomain)
{
domainList.Add(gtd);
//domainList.Add(gtd);
}
if (useFootstepDomain)
{
domainList.Add(fpd);
//domainList.Add(fpd);
}
planner = new BestFirstSearchPlanner();
planner.init(ref domainList, MaxNumberOfNodes);
initialized = true;
currentState = null;
isPlanComputed = false;
planChanged = false;
goalMeshRenderer = goalStateTransform.gameObject.GetComponent("MeshRenderer") as MeshRenderer;
currentGoal = goalStateTransform.position;
goalReached = false;
}
