public List <TaskBase> Planning(IWorldState currentState, TaskBase rootTask)
{
plannerStateHistory.Clear();
plannerState = new PlannerState(
currentState.Clone(),
new List <TaskBase>(),
new List <TaskBase>()
{
rootTask
},
0);
while (plannerState.TaskListToProcess.Count > 0)
{
var currentTask = plannerState.TaskListToProcess[0];
Debug.Log("CurrentTask:" + currentTask);
if (currentTask is CompoundTask currentCompoundTask)
{
var satisfiedMethod = FindSatisfiedMethod(currentCompoundTask, plannerState);
if (satisfiedMethod != null)
{
RecordDecompositionOfTask(currentCompoundTask);
plannerState.TaskListToProcess.RemoveAt(0);
plannerState.TaskListToProcess.InsertRange(0, satisfiedMethod.SubTasks);
}
else
{
RestoreToLastDecomposedTask();
}
}
else // PrimitiveTask
{
if (currentTask.CheckPreCondition(plannerState.WorkingWS))
{
plannerState.TaskListToProcess.RemoveAt(0);
plannerState.FinalPlanList.Add(currentTask);
plannerState.WorkingWS = currentTask.ApplyEffects(plannerState.WorkingWS);
}
else
{
RestoreToLastDecomposedTask();
}
}
}
return(new List <TaskBase>(plannerState.FinalPlanList));
}
public virtual IWorldState ApplyEffects(IWorldState state)
{
return(state.Clone());
}