private void DebugPlan(INode <T> node, INode <T> parent)
{
if (!debugPlan)
{
return;
}
if (debugger == null)
{
debugger = new PlanDebugger();
}
string nodeStr = string.Format(@"{0} [label=<
<table border='0' color='black' fontcolor='#F5F5F5'>
<tr> <td colspan='2'><b>{4}</b></td> </tr>
<hr/>
<tr align='left'> <td border='1' sides='rt'><b>Costs</b></td> <td border='1' sides='t'><b>g</b>: {1} ; <b>h</b>: {2} ; <b>c</b>: {3}</td> </tr>
<tr align='left'> <td border='1' sides='rt'><b>Preconditions</b></td> <td border='1' sides='t'>{5}</td> </tr>
<tr align='left'> <td border='1' sides='rt'><b>Effects</b></td> <td border='1' sides='t'>{6}</td> </tr>
<tr align='left'> <td border='1' sides='rt'><b>Goal</b></td> <td border='1' sides='t'>{7}</td> </tr>
</table>
>]",
node.GetHashCode(),
node.GetPathCost(), node.GetHeuristicCost(), node.GetCost(),
node.Name, node.Preconditions != null ? node.Preconditions.ToString() : "",
node.Effects != null ? node.Effects.ToString() : "",
node.Goal != null ? node.Goal.ToString() : "");
debugger.AddNode(nodeStr);
if (parent != null)
{
string connStr = string.Format("{0} -> {1}", parent.GetHashCode(), node.GetHashCode());
debugger.AddConn(connStr);
}
}
private void _DebugPlan(INode <T> node, INode <T> parent)
{
if (!_debugPlan)
{
return;
}
if (null == _debugger)
{
_debugger = new PlanDebugger();
}
string nodeStr = string.Format("{0} [label=\"GOAL({4}): {5}:\n{1}\nEFFECT:\n{2}\nPRECOND:\n{3}\n\"]", node.GetHashCode(), node.GoalString, node.EffectString, node.PrecondString, node.GetCost(), node.Name);
_debugger.AddNode(nodeStr);
if (parent != null)
{
string connStr = string.Format("{0} -> {1}", parent.GetHashCode(), node.GetHashCode());
_debugger.AddConn(connStr);
}
}