static void RecordDecompositionOfTask(State plannerState, CompoundTask CurrentTaskCompound, Stack <State> DecompHistory)
{
var copy = new State {
finalPlan = new List <TaskBase>(plannerState.finalPlan),
tasksToProcess = new Stack <TaskBase>(plannerState.tasksToProcess),
workingWS = plannerState.workingWS.Clone(),
nextMethodIdx = plannerState.nextMethodIdx,
nextMethodPtr = plannerState.nextMethodPtr
};
copy.tasksToProcess.Push(CurrentTaskCompound);
DecompHistory.Push(copy);
}
static Method FindSatisfiedMethod(CompoundTask CurrentTaskCompound, IState state, ref int nextMethodIdx)
{
var methodState = state.Clone();
var methods = CurrentTaskCompound.methods.OrderByDescending(m => m.Score(state)).ToList();
for (; nextMethodIdx < methods.Count; ++nextMethodIdx)
{
var method = methods[nextMethodIdx];
if (!method.Check(methodState))
{
continue;
}
var methodValid = true;
foreach (var task in method.tasks)
{
if (!task.Check(methodState))
{
//Debug.Log(CurrentTaskCompound + " not satisfied because " + task + " check failed");
methodValid = false;
break;
}
task.Apply(methodState);
}
if (methodValid)
{
++nextMethodIdx;
return(method);
}
}
nextMethodIdx = 0;
return(null);
}