public IAction GenerateAction(SubstitutionSet constraints)
{
var actionName = m_actionTemplate.MakeGround(constraints);
if (!actionName.IsGrounded)
{
return(null);
}
var targetName = Target.MakeGround(constraints);
if (!targetName.IsGrounded)
{
return(null);
}
var priority = Priority.MakeGround(constraints);
if (!priority.IsGrounded)
{
return(null);
}
var a = new Action(actionName.GetTerms(), targetName);
//Determine Priority (Utility)
float p = float.Parse(priority.ToString());
if (constraints.Any())
{
var minCertainty = constraints.FindMinimumCertainty();
a.Utility = p + minCertainty;
}
else
{
a.Utility = p + 1; // minCertainty is 1 if there are no conditions to be uncertain about
}
return(a);
}