public void UpdateReferences(float inflationFactor, PlanningDomainBase domain)
{
List<DefaultState> neighborsList = new List<DefaultState>();
foreach(KeyValuePair<DefaultState, ARAstarNode> node in close)
{
if(node.Value.weightExpanded > inflationFactor)
{
float best_g = Mathf.Infinity;
node.Value.weightExpanded = inflationFactor;
domain.generateNeighbors(node.Key, ref neighborsList);
foreach(DefaultState neighbor in neighborsList)
{
if(close.ContainsKey(neighbor))
{
if(close[neighbor].g < best_g){
best_g = close[neighbor].g;
close[neighbor].weightExpanded = inflationFactor;
close[node.Key].previousState = neighbor;
//close[node.Key].action = new ARAstarAction(neighbor, node.Key);
close[node.Key].action = domain.generateAction(neighbor, node.Key);
}
}
}
}
}
}
public void UpdateReferences(float inflationFactor, PlanningDomainBase domain)
{
List <DefaultState> neighborsList = new List <DefaultState>();
foreach (KeyValuePair <DefaultState, ARAstarNode> node in close)
{
if (node.Value.weightExpanded > inflationFactor)
{
float best_g = Mathf.Infinity;
node.Value.weightExpanded = inflationFactor;
domain.generateNeighbors(node.Key, ref neighborsList);
foreach (DefaultState neighbor in neighborsList)
{
if (close.ContainsKey(neighbor))
{
if (close[neighbor].g < best_g)
{
best_g = close[neighbor].g;
close[neighbor].weightExpanded = inflationFactor;
close[node.Key].previousState = neighbor;
//close[node.Key].action = new ARAstarAction(neighbor, node.Key);
close[node.Key].action = domain.generateAction(neighbor, node.Key);
}
}
}
}
}
}
void updatePlanReference(PlanningDomainBase domain)
{
List <DefaultState> neighborsList = new List <DefaultState>();
foreach (DefaultState state in plan.Keys)
{
float ming = Mathf.Infinity;
domain.generateNeighbors(state, ref neighborsList);
foreach (DefaultState neighbor in neighborsList)
{
if (plan.ContainsKey(neighbor))
{
if (plan[neighbor].g < ming)
{
ming = plan[neighbor].g;
plan[state].previousState = neighbor;
//plan[state].action = new ARAstarAction(neighbor, state);
plan[state].action = domain.generateAction(neighbor, state);
}
}
}
}
}
void updatePlanReference(PlanningDomainBase domain)
{
List<DefaultState> neighborsList = new List<DefaultState>();
foreach(DefaultState state in plan.Keys)
{
float ming = Mathf.Infinity;
domain.generateNeighbors(state, ref neighborsList);
foreach(DefaultState neighbor in neighborsList)
{
if(plan.ContainsKey(neighbor))
{
if(plan[neighbor].g < ming)
{
ming = plan[neighbor].g;
plan[state].previousState = neighbor;
//plan[state].action = new ARAstarAction(neighbor, state);
plan[state].action = domain.generateAction(neighbor, state);
}
}
}
}
}
