private void Search(State state, IGoal goal, int depth)
{
if (goal.Fulfillment(state) > bestscore)
{
bestscore = goal.Fulfillment(state);
bestdepth = depth;
bestActionStack = new Stack<PlanningAction>(planStack.Reverse());
bestStateStack = new Stack<State>(stateStack.Reverse());
}
if (goal.Fulfillment(state) == bestscore && depth < bestdepth)
{
bestdepth = depth;
bestActionStack = new Stack<PlanningAction>(planStack.Reverse());
bestStateStack = new Stack<State>(stateStack.Reverse());
}
if (depth < _maxsearchdepth)
{
foreach (var a in state.PlanningActions.Where(l => l.CanExecute(state)))
{
var migratedState = a.Migrate(state);
if(!stateStack.Contains(migratedState))
{
planStack.Push(a);
stateStack.Push(migratedState);
Search(migratedState, goal, depth + 1);
stateStack.Pop();
planStack.Pop();
}
}
}
}
private void Search(State state, IGoal goal, int depth)
{
if (goal.Fulfillment(state) > bestscore)
{
bestscore = goal.Fulfillment(state);
bestdepth = depth;
bestActionStack = new Stack <PlanningAction>(planStack.Reverse());
bestStateStack = new Stack <State>(stateStack.Reverse());
}
if (goal.Fulfillment(state) == bestscore && depth < bestdepth)
{
bestdepth = depth;
bestActionStack = new Stack <PlanningAction>(planStack.Reverse());
bestStateStack = new Stack <State>(stateStack.Reverse());
}
if (depth < _maxsearchdepth)
{
foreach (var a in state.PlanningActions.Where(l => l.CanExecute(state)))
{
var migratedState = a.Migrate(state);
if (!stateStack.Contains(migratedState))
{
planStack.Push(a);
stateStack.Push(migratedState);
Search(migratedState, goal, depth + 1);
stateStack.Pop();
planStack.Pop();
}
}
}
}
