public static void RunPlanner(IPlan initPi, ISearch SearchMethod, ISelection SelectMethod, int k, float cutoff, string directoryToSaveTo, int problem)
{
var POP = new PlanSpacePlanner(initPi, SelectMethod, SearchMethod, true)
{
directory = directoryToSaveTo,
problemNumber = problem,
};
var Solutions = POP.Solve(k, cutoff);
}
public static void RunPlanner(IPlan initPi, ISearch SearchMethod, ISelection SelectMethod, float cutoff, string directoryToSaveTo, int problem)
{
var POP = new PlanSpacePlanner(initPi, SelectMethod, SearchMethod, true)
{
directory = directoryToSaveTo,
problemNumber = problem,
};
var Solutions = POP.Solve(1, cutoff);
if (Solutions != null)
{
Console.WriteLine(Solutions[0].ToStringOrdered());
}
}
public static void RunPlanner(IPlan initPi, ISearch SearchMethod, ISelection SelectMethod, int k, float cutoff, string directoryToSaveTo, int problem)
{
// Create a planner object to run this instance
var POP = new PlanSpacePlanner(initPi, SelectMethod, SearchMethod, true)
{
directory = directoryToSaveTo,
problemNumber = problem,
};
// Return a list of k solutions
var Solutions = POP.Solve(k, cutoff);
// Print the first solution to console
if (Solutions != null)
{
Console.Write(Solutions[0].ToStringOrdered());
}
}
// Use this for initialization
void Start()
{
var testDomainName = "batman";
var testDomainDirectory = Parser.GetTopDirectory() + @"Benchmarks\" + testDomainName + @"\domain.pddl";
var testDomain = Parser.GetDomain(Parser.GetTopDirectory() + @"Benchmarks\" + testDomainName + @"\domain.pddl", PlanType.PlanSpace);
var testProblem = Parser.GetProblem(Parser.GetTopDirectory() + @"Benchmarks\" + testDomainName + @"\prob01.pddl");
string FileName = Parser.GetTopDirectory() + @"Test\" + testDomainName + "_" + testProblem.Name;
string CausalMapFileName = Parser.GetTopDirectory() + @"CausalMaps\" + testDomainName + "_" + testProblem.Name;
string ThreatMapFileName = Parser.GetTopDirectory() + @"CausalMaps\" + testDomainName + "_" + testProblem.Name;
if (RELOAD)
{
Debug.Log("Creating Ground Operators");
GroundActionFactory.PopulateGroundActions(testDomain.Operators, testProblem);
//BinarySerializer.SerializeObject(FileName, GroundActionFactory.GroundActions);
foreach (var op in GroundActionFactory.GroundActions)
{
BinarySerializer.SerializeObject(FileName + op.GetHashCode().ToString(), op);
}
CacheMaps.CacheLinks(GroundActionFactory.GroundActions);
CacheMaps.CacheGoalLinks(GroundActionFactory.GroundActions, testProblem.Goal);
BinarySerializer.SerializeObject(CausalMapFileName, CacheMaps.CausalMap);
BinarySerializer.SerializeObject(ThreatMapFileName, CacheMaps.ThreatMap);
}
else
{
List <IOperator> Operators = new List <IOperator>();
foreach (string file in Directory.GetFiles(Parser.GetTopDirectory() + @"Cache\" + testDomainName))
{
var op = BinarySerializer.DeSerializeObject <IOperator>(file);
Operators.Add(op);
//string contents = File.ReadAllText(file);
}
//var actions = new List<IOperator>();
GroundActionFactory.GroundActions = Operators;
}
Debug.Log("Caching Maps");
Debug.Log("Finding static preconditions");
GroundActionFactory.DetectStatics(CacheMaps.CausalMap, CacheMaps.ThreatMap);
Debug.Log("Creating initial Plan");
// Create Initial Plan
// public Plan(List<IOperator> steps, IState initial, IState goal, Graph<IOperator> og, ICausalLinkGraph clg, Flawque flawQueue)
// IState _initial, IState _goal, List<IOperator> _steps
var initialPlan = new Plan(new State(testProblem.Initial) as IState, new State(testProblem.Goal) as IState);
foreach (var goal in testProblem.Goal)
{
initialPlan.Flaws.Insert(initialPlan, new OpenCondition(goal, initialPlan.GoalStep as IOperator));
}
Debug.Log("Insert First Ordering");
initialPlan.Orderings.Insert(initialPlan.InitialStep, initialPlan.GoalStep);
Debug.Log("First POP");
var AStarPOP = new PlanSpacePlanner(initialPlan, SearchType.BestFirst, new AddReuseHeuristic().Heuristic);
var bestFirstSolutions = AStarPOP.Solve(1, 6000f);
Debug.Log(bestFirstSolutions[0]);
var BFSPOP = new PlanSpacePlanner(initialPlan, SearchType.BFS, new ZeroHeuristic().Heuristic);
var BFSSolutions = BFSPOP.Solve(1, 6000f);
Debug.Log(BFSSolutions[0]);
var DFSPOP = new PlanSpacePlanner(initialPlan, SearchType.DFS, new ZeroHeuristic().Heuristic);
var DFSSolutions = DFSPOP.Solve(1, 6000f);
Debug.Log(DFSSolutions[0]);
}
