//Returns a Queue object containing GActions, called "plan" and requires a list of GActions, the goal and required beliefstates
public Queue <GAction> plan(List <GAction> actions, Dictionary <string, int> goal, WorldStates beliefStates)
{
//Find out which actions are actually usable in this plan, filter out those that can't
List <GAction> usableActions = new List <GAction>();
foreach (GAction a in actions)
{
if (a.isAchievable())
{
usableActions.Add(a);
}
}
//A list of all nodes (or 'leaves')
List <Node> leaves = new List <Node>();
//First leaf in plan has null/no parent, 0 cost and ALL world states available
Node start = new Node(null, 0, GWorld.Instance.GetWorld().GetStates(), beliefStates.GetStates(), null);
//If the graph is successfully built, success = 1
bool success = BuildGraph(start, leaves, usableActions, goal);
if (!success)
{
//Debug.Log("NO PLAN");
return(null);
}
Node cheapest = null;
foreach (Node leaf in leaves)
{
if (cheapest == null)
{
cheapest = leaf;
}
else
{
if (leaf.cost < cheapest.cost)
{
cheapest = leaf;
}
}
}
List <GAction> result = new List <GAction>();
Node n = cheapest;
while (n != null)
{
if (n.action != null)
{
result.Insert(0, n.action);
}
n = n.parent;
}
Queue <GAction> queue = new Queue <GAction>();
foreach (GAction a in result)
{
queue.Enqueue(a);
}
//Debug.Log("The plan is: ");
foreach (GAction a in queue)
{
//Debug.Log("Q: " + a.actionName);
}
return(queue);
}
public void SetUInt32(WorldStateId id, uint value)
{
SetUInt32(WorldStates.GetState(id), value);
}
public Queue <GAction> plan(List <GAction> actions, Dictionary <string, int> goal, WorldStates beliefstates)
{
List <GAction> usableActions = new List <GAction>();
foreach (GAction a in actions)
{
if (a.IsAchievable())
{
usableActions.Add(a);
}
}
List <Node> leaves = new List <Node>();
Node start = new Node(null, 0, GWorld.Instance.GetWorld().GetStates(), beliefstates.GetStates(), null);
bool success = BuildGraph(start, leaves, usableActions, goal);
if (!success)
{
Debug.Log("NO PLAN");
return(null);
}
Node cheapest = null;
foreach (Node leaf in leaves)
{
if (cheapest == null)
{
cheapest = leaf;
}
else
{
if (leaf.cost < cheapest.cost)
{
cheapest = leaf;
}
}
}
List <GAction> result = new List <GAction>();
Node n = cheapest;
while (n != null)
{
if (n.action != null)
{
result.Insert(0, n.action);
}
n = n.parent;
}
Queue <GAction> queue = new Queue <GAction>();
foreach (GAction a in result)
{
queue.Enqueue(a);
}
Debug.Log("The Plan is: ");
foreach (GAction a in queue)
{
Debug.Log("Q: " + a.actionName);
}
return(queue);
}
void Awake()
{
beliefs = this.GetComponent <GAgent>().beliefs;
initialStrength = stateStrength;
}
public Queue <GAction> plan(List <GAction> actions, Dictionary <string, int> goal, WorldStates states)
{
List <GAction> usableActions = new List <GAction>();
foreach (GAction a in actions)
{
if (a.isAcheivable())
{
usableActions.Add(a);
}
}
List <GNode> leaves = new List <GNode>();
GNode start = new GNode(null, 0, GWorld.Instance.GetWorld().GetStates(), null);
bool success = BuildGraph(start, leaves, usableActions, goal);
if (!success)
{
Debug.Log("No Plan");
return(null);
}
GNode cheapest = null;
foreach (GNode leaf in leaves)
{
if (cheapest == null)
{
cheapest = leaf;
}
else
{
if (leaf.cost < cheapest.cost)
{
cheapest = leaf;
}
}
}
List <GAction> result = new List <GAction>();
GNode n = cheapest;
while (n != null)
{
if (n.action != null)
{
result.Insert(0, n.action);
}
n = n.parent;
}
Queue <GAction> queue = new Queue <GAction>();
foreach (GAction a in result)
{
queue.Enqueue(a);
}
//----------------------------------------
Debug.Log("Plan Found: "); //
foreach (GAction a in queue) //
{ //
Debug.Log("Q: " + a.actionName); //
} //
//----------------------------------------
return(queue);
}
static GWorld()
{
world = new WorldStates();
patients = new Queue <GameObject>();
}
public Queue <GAction> plan(List <GAction> actions, Dictionary <string, int> goal, WorldStates beliefStates)
{
List <GAction> usableActions = new List <GAction>();
//of all the actions available find the ones that can be achieved.
foreach (GAction a in actions)
{
if (a.IsAchievable())
{
usableActions.Add(a);
}
}
//create the first node in the graph
List <Node> leaves = new List <Node>();
Node start = new Node(null, 0.0f, GWorld.Instance.GetWorld().GetStates(), beliefStates.GetStates(), null);
//pass the first node through to start branching out the graph of plans from
bool success = BuildGraph(start, leaves, usableActions, goal);
//if a plan wasn't found
if (!success)
{
// Debug.Log("NO PLAN");
return(null);
}
//of all the plans found, find the one that's cheapest to execute
//and use that
Node cheapest = null;
foreach (Node leaf in leaves)
{
if (cheapest == null)
{
cheapest = leaf;
}
else if (leaf.cost < cheapest.cost)
{
cheapest = leaf;
}
}
List <GAction> result = new List <GAction>();
Node n = cheapest;
while (n != null)
{
if (n.action != null)
{
result.Insert(0, n.action);
}
n = n.parent;
}
//make a queue out of the actions represented by the nodes in the plan
//for the agent to work its way through
Queue <GAction> queue = new Queue <GAction>();
foreach (GAction a in result)
{
queue.Enqueue(a);
}
// Debug.Log("The Plan is: ");
// foreach (GAction a in queue) {
// Debug.Log("Q: " + a.actionName);
// }
return(queue);
}
