public List <VertexWeightedLandmarkAndHsp> Expand(VertexWeightedLandmarkAndHsp v, HashSet <CompoundFormula> levelPotential, List <VertexWeightedLandmarkAndHsp> needUpDate)
{
List <VertexWeightedLandmarkAndHsp> lExpanded = new List <VertexWeightedLandmarkAndHsp>();
foreach (Agent agent in agents)
{
foreach (Action act in agent.publicActions)
{
//if (act.Name.Contains("p1_black"))
// Console.WriteLine("*");
Program.messages += agents.Count;
VertexWeightedLandmarkAndHsp newVertexHsp = v.Apply(act);
if (newVertexHsp != null)
{
// if (act.Name.Contains("verysmooth"))
// Console.WriteLine("*");
lExpanded.Add(newVertexHsp);
CompoundFormula effect = new CompoundFormula("and");
foreach (GroundedPredicate gp in act.HashEffects)
{
if (agent.PublicPredicates.Contains(gp))
{
effect.AddOperand(gp);
}
}
levelPotential.Add(effect);
// needUpDate.Add(newVertexHsp);
}
}
}
return(lExpanded);
}
