private List <string> ComputeJointPrefix(List <List <string> > lPlans, Domain d)
{
List <string> lJointPrefix = new List <string>();
List <List <string> > lPlansSuffix = new List <List <string> >();
foreach (List <string> lPlan in lPlans)
{
lPlansSuffix.Add(FilterReasoningActions(lPlan));
}
string sCurrentAction = "";
while (lPlansSuffix[0].Count > 0)
{
sCurrentAction = lPlansSuffix[0][0];
bool bAllAgree = true;
for (int i = 1; i < lPlansSuffix.Count; i++)
{
if (lPlansSuffix[i][0] != sCurrentAction)
{
bAllAgree = false;
}
}
if (bAllAgree)
{
lJointPrefix.Add(sCurrentAction);
foreach (List <string> lPlan in lPlansSuffix)
{
lPlan.RemoveAt(0);
}
}
else
{
break;
}
}
//now add all immediate sensing actions
foreach (List <string> lPlan in lPlansSuffix)
{
int iCurrent = 0;
while (d.IsObservationAction(lPlan[iCurrent]))
{
if (!lJointPrefix.Contains(lPlan[iCurrent]))
{
lJointPrefix.Add(lPlan[iCurrent]);
}
iCurrent++;
}
}
return(lJointPrefix);
}
private List <string> ComputeVotingPrefix(List <List <string> > lPlans, Domain d)
{
List <string> lJointPrefix = new List <string>();
List <List <string> > lPlansSuffix = new List <List <string> >();
foreach (List <string> lPlan in lPlans)
{
lPlansSuffix.Add(FilterReasoningActions(lPlan));
}
string sCurrentAction = "";
SameAction sa = new SameAction();
while (lPlansSuffix.Count >= lPlans.Count / 2 && lPlansSuffix[0].Count > 0)
{
bool bFoundObservationAction = false;
Dictionary <string, int> dVotes = new Dictionary <string, int>(sa);
foreach (List <string> lPlan in lPlansSuffix)
{
if (lPlan.Count > 0)
{
while (d.IsObservationAction(lPlan[0]))
{
if (!lJointPrefix.Contains(lPlan[0]))
{
lJointPrefix.Add(lPlan[0]);
}
bFoundObservationAction = true;
lPlan.RemoveAt(0);
}
sCurrentAction = lPlan[0];
if (!dVotes.ContainsKey(sCurrentAction))
{
dVotes[sCurrentAction] = 0;
}
dVotes[sCurrentAction]++;
}
}
if (bFoundObservationAction)
{
break;
}
string sMaxAction = dVotes.Keys.First();
foreach (KeyValuePair <string, int> p in dVotes)
{
if (p.Value > dVotes[sMaxAction])
{
sMaxAction = p.Key;
}
}
lJointPrefix.Add(sMaxAction);
List <List <string> > lNewSuffixes = new List <List <string> >();
foreach (List <string> lPlan in lPlansSuffix)
{
if (lPlan.Count > 0 && sa.Equals(lPlan[0], sMaxAction))
{
lPlan.RemoveAt(0);
lNewSuffixes.Add(lPlan);
}
}
lPlansSuffix = lNewSuffixes;
}
return(lJointPrefix);
}
private List <string> ComputeSensingPrefix(List <List <string> > lPlans, Domain d)
{
List <string> lJointPrefix = new List <string>();
List <List <string> > lPlansSuffix = new List <List <string> >();
foreach (List <string> lPlan in lPlans)
{
lPlansSuffix.Add(FilterReasoningActions(lPlan));
}
SameAction sa = new SameAction();
List <string> lFirstSensingPlan = null, lShortestPlan = null;
int iFirstSensingAction = -1;
int iAction = 0;
int cPlans = lPlansSuffix.Count;
for (iAction = 0; cPlans > 0 && lFirstSensingPlan == null; iAction++)
{
foreach (List <string> lPlan in lPlansSuffix)
{
if (lPlan.Count == iAction)
{
if (lShortestPlan == null)
{
lShortestPlan = lPlan;
}
cPlans--;
}
if (iAction < lPlan.Count && d.IsObservationAction(lPlan[iAction]))
{
iFirstSensingAction = iAction;
lFirstSensingPlan = lPlan;
}
}
}
if (lFirstSensingPlan == null)
{
lFirstSensingPlan = lShortestPlan;
}
if (iFirstSensingAction == -1)
{
iFirstSensingAction = lFirstSensingPlan.Count;
}
for (iAction = 0; iAction < iFirstSensingAction; iAction++)
{
List <List <string> > lNewSuffixes = new List <List <string> >();
foreach (List <string> lPlan in lPlansSuffix)
{
if (sa.Equals(lPlan[iAction], lFirstSensingPlan[iAction]))
{
lNewSuffixes.Add(lPlan);
}
}
lJointPrefix.Add(lFirstSensingPlan[iAction]);
lPlansSuffix = lNewSuffixes;
}
foreach (List <string> lPlan in lPlansSuffix)
{
for (iAction = iFirstSensingAction; iAction < lPlan.Count; iAction++)
{
if (d.IsObservationAction(lPlan[iAction]))
{
if (!lJointPrefix.Contains(lPlan[iAction]))
{
lJointPrefix.Add(lPlan[iAction]);
}
}
else
{
break;
}
}
}
return(lJointPrefix);
}