public static List <IPlanStep> ReadPlayerTrace(string directory, Domain domain, Problem problem)
{
var planTrace = new List <IPlanStep>();
string[] input = System.IO.File.ReadAllLines(directory);
foreach (var line in input)
{
var opToken = PlayerTraceUtilities.CreateOperatorToken(line);
var iopToken = PlayerTraceUtilities.AddPreconditionsAndEffects(opToken, domain);
// make sure we don't accidentally use.... <_<, >_>
opToken = null;
var newStep = new PlanStep();
if (GroundActionFactory.GroundActions.Contains(iopToken))
{
var opIndex = GroundActionFactory.GroundActions.IndexOf(iopToken);
var existingOpToken = GroundActionFactory.GroundActions[opIndex];
newStep = new PlanStep(existingOpToken.Clone() as IOperator);
}
else
{
GroundActionFactory.InsertOperator(iopToken);
newStep = new PlanStep(iopToken.Clone() as IOperator);
}
planTrace.Add(newStep);
}
return(planTrace);
}
public static void AddCompositeStepsToGroundActionFactory(List <IPredicate> Initial, List <IPredicate> Goal, List <CompositeSchedule> compositeSteps)
{
var originalOps = GroundActionFactory.GroundActions;
//CacheMaps.CacheLinks(originalOps);
var IOpList = new List <IOperator>();
foreach (var compstep in compositeSteps)
{
var asIOp = compstep as IOperator;
IOpList.Add(asIOp);
GroundActionFactory.InsertOperator(asIOp);
}
// Update Heuristic value for primary effects.
PrimaryEffectHack(new State(Initial) as IState);
// Amonst themselves
CacheMaps.CacheLinks(IOpList);
// as consequents to the originals
CacheMaps.CacheLinks(originalOps, IOpList);
// as antecedants to the originals
CacheMaps.CacheLinks(IOpList, originalOps);
// as antecedants to goal conditions
CacheMaps.CacheGoalLinks(originalOps, Goal);
CacheMaps.CacheGoalLinks(IOpList, Goal);
}
public void AddCompositeStepsToGroundActionFactory(List <CompositeSchedule> compositeSteps)
{
var goalConditions = InitialPlan.GoalStep.Preconditions;
var originalOps = GroundActionFactory.GroundActions;
var IOpList = new List <IOperator>();
foreach (var compstep in compositeSteps)
{
var asIOp = compstep as IOperator;
IOpList.Add(asIOp);
GroundActionFactory.InsertOperator(asIOp);
}
// Update Heuristic value for primary effects.
PrimaryEffectHack(InitialPlan.Initial);
// Amonst themselves
CacheMaps.CacheLinks(IOpList);
// as antecedants to the originals
CacheMaps.CacheLinks(IOpList, originalOps);
// as consequents to the originals
CacheMaps.CacheLinks(originalOps, IOpList);
// as antecedants to goal conditions
CacheMaps.CacheGoalLinks(IOpList, goalConditions);
// is is possible to have a new precondition here that is static?
/// this raises a larger point.
/// should we say that initially we observe the way the world is? (yes)
/// should we create simple camera shots for conveying actions so that effects of actions are all observable?
/// this is an experimental condition of sorts. In this case, there is no non-static condition that is not observable.
/// therefore, (no), there is no need for (extra) statics.
// There is also no need to cache addreuseheuristic again because primitive values.
//CacheMaps.CacheAddReuseHeuristic(InitialPlan.Initial);
}
