Ejemplo n.º 1
0
 // Base Constructor
 public Node(Node parent, float cost, List <State> allStates, GAction action)
 {
     this.parent = parent;
     this.cost   = cost;
     this.state  = new List <State>(allStates);
     this.action = action;
 }
Ejemplo n.º 2
0
        /// <summary>
        /// Load next action in the queue.
        /// </summary>
        private void LoadNextAction()
        {
            // ------- HAS AN ACTION QUEUE CONTAINING ACTIONS -------

            if (actionQueue != null && actionQueue.Count > 0)
            {
                // --------- SET CURRENT ACTION TO NEXT ACTION ----------

                currentAction = actionQueue.Dequeue();

                // ----------- CHECKS PRE PERFORM CONDITIONS ------------

                if (currentAction.PrePerform(this))
                {
                    Debug.Log($"Pre perform successful for {currentAction.name}.");

                    // ------------------ ACTIVATE ACTION -------------------

                    isRunningAction = true;
                    currentAction.RunMainAction(this);
                }
                else
                {
                    // ----------------- FORCE A NEW PLAN -----------------

                    actionQueue = null;
                }
            }
        }
Ejemplo n.º 3
0
        /// <summary>
        /// Returns a new list that doesn't contain the removed action.
        /// </summary>
        private List <GAction> ActionSubset(List <GAction> actions, GAction removeMe)
        {
            List <GAction> subset = new List <GAction>();

            foreach (GAction a in actions)
            {
                if (!a.Equals(removeMe))
                {
                    subset.Add(a);
                }
            }
            return(subset);
        }
Ejemplo n.º 4
0
        // Overloaded Constructor
        public Node(Node parent, float cost, List <State> allStates, List <State> beliefStates, GAction action)
        {
            this.parent = parent;
            this.cost   = cost;
            this.state  = new List <State>(allStates);
            this.action = action;

            // Merge beliefs into all states dictionary
            foreach (var b in beliefStates)
            {
                if (!this.state.Contains(b))
                {
                    this.state.Add(b);
                }
            }
        }