//-----------------------------------------------------------------------------------------------
public void GeneratePlan()
{
if (m_htnPlanner.PlannerDomain == null)
{
AssignDomainToPlanner();
}
bool planSuccess = m_htnPlanner.CreatePlan();
if (!planSuccess)
{
Debug.Log("Plan generation failed.");
}
m_activeStrategyPlan = m_htnPlanner.LastCreatedPlan;
}
/// <summary>
/// Creation of a plan for the current intention
/// </summary>
/// <returns>A STRIPS plan which can be executed</returns>
protected virtual Plan <TAction> MakePlan()
{
var itemsToProcess = new Stack <IStackItem>();
var complexGoal = new ComplexGoal();
foreach (var intent in CurrentIntentions)
{
complexGoal.Goals.AddRange(intent.CreateGoal().Goals);
}
itemsToProcess.Push(complexGoal);
var currentBeliefs = ExtractFactsFromBeliefBase();
var tuple = Planner.CreatePlan <TAction>(itemsToProcess, currentBeliefs, new List <Fact>(), new List <State>(), Actions);
return(tuple.Item1);
}