/// <summary>
/// Creates the action node for the FF evaluation, from the specified operator and the previous state layer.
/// </summary>
/// <param name="appliedOperator">Applied operator.</param>
/// <param name="state">Previous state layer.</param>
/// <returns>New action node.</returns>
protected override ActionNode CreateFFActionNode(Planner.IOperator appliedOperator, Planner.IState state)
{
Operator oper = (Operator)appliedOperator;
var preconditions = oper.GetEffectivePreconditions((IState)state);
var effects = oper.GetEffectiveEffects();
return(new ActionNode(oper, preconditions.ConvertAll(x => (IProposition) new Proposition(x)), effects.ConvertAll(x => (IProposition) new Proposition(x))));
}
/// <summary>
/// Creates the action node for the FF evaluation, from the specified operator and the previous state layer.
/// </summary>
/// <param name="appliedOperator">Applied operator.</param>
/// <param name="state">Previous state layer.</param>
/// <returns>New action node.</returns>
protected override ActionNode CreateFFActionNode(Planner.IOperator appliedOperator, Planner.IState state)
{
Operator oper = (Operator)appliedOperator;
List <IProposition> predecessors = new List <IProposition>();
foreach (var assignment in oper.Preconditions)
{
predecessors.Add(new Proposition(assignment));
}
List <IProposition> successors = new List <IProposition>();
foreach (var effect in oper.Effects)
{
if (effect.IsApplicable((IState)state))
{
successors.Add(new Proposition(effect.GetAssignment()));
}
}
return(new ActionNode(oper, predecessors, successors));
}