public void IterativeMAPlanner_TestIndepeneceBetweenRuns()
{
string filePathProblem = Directory.GetParent(Directory.GetCurrentDirectory()).Parent.Parent.Parent.FullName + @"\PlanningProblems\BoxPushing\B2\p.pddl";
string filePathDomain = Directory.GetParent(Directory.GetCurrentDirectory()).Parent.Parent.Parent.FullName + @"\PlanningProblems\BoxPushing\B2\d.pddl";
Domain d = Parser.ParseDomain(filePathDomain, "agent");
Problem p = Parser.ParseProblem(filePathProblem, d);
SingleAgentSDRPlanner saSDR = new SingleAgentSDRPlanner(d, p, SDRPlanner.Planners.FF);
// Get the first agent
Constant agent1 = d.GetAgents()[0];
PlanResult pr1 = saSDR.Plan(agent1, null, null, null);
string domainAfter_1 = d.ToString();
PlanResult pr2 = saSDR.Plan(agent1, null, null, null);
string domainAfter_2 = d.ToString();
// General domain shoud remain the same after planning once
Assert.AreEqual(d.ToString(), domainAfter_1);
// General domain shoud remain the same after planning twice
Assert.AreEqual(d.ToString(), domainAfter_2);
// Both used domains (after one & two running) should remain the same
Assert.AreEqual(pr1.m_agentDomain.ToString(), pr2.m_agentDomain.ToString());
Assert.AreNotEqual(pr1.m_agentDomain.ToString(), d.ToString());
Assert.AreNotEqual(pr2.m_agentDomain.ToString(), d.ToString());
}
private void btnRunSingleAgentPlan_Click(object sender, EventArgs e)
{
// Active agent
Constant activeAgent = (Constant)cbActiveAgents.SelectedItem;
// Active goals
List <Predicate> activeGoals = new List <Predicate>();
for (int i = 0; i < clbActiveGoals.Items.Count; i++)
{
if (clbActiveGoals.GetItemChecked(i))
{
activeGoals.Add((Predicate)clbActiveGoals.Items[i]);
}
}
// Required Actions to be preformed
List <Action> reqCollabActions = new List <Action>();
for (int i = 0; i < clbActiveJointActions.Items.Count; i++)
{
if (clbActiveJointActions.GetItemChecked(i))
{
reqCollabActions.Add((Action)clbActiveJointActions.Items[i]);
}
}
// Active Prev achieved goals
List <KeyValuePair <Predicate, int> > prevAchievedGoals = new List <KeyValuePair <Predicate, int> >();
for (int i = 0; i < clbPrevGoalTime.Items.Count; i++)
{
if (clbPrevGoalTime.GetItemChecked(i))
{
prevAchievedGoals.Add((KeyValuePair <Predicate, int>)clbPrevGoalTime.Items[i]);
}
}
Domain reducedDomain = Parser.ParseDomain(m_DomainPath, m_AgentCallsign);
Problem reducedProblem = Parser.ParseProblem(m_ProblemPath, reducedDomain);
string sPath = Directory.GetParent(reducedDomain.Path).FullName + "\\";
SingleAgentSDRPlanner m_saSDRPlanner = new SingleAgentSDRPlanner(reducedDomain,
reducedProblem,
(SDRPlanner.Planners)cbPlanner.SelectedItem);
PlanResult planResult = m_saSDRPlanner.Plan(activeAgent, activeGoals, prevAchievedGoals, reqCollabActions);
ConditionalPlanTreeNode root = planResult.Plan;
PlanDetails pd = root.ScanDetails(reducedDomain, reducedProblem);
pd.PlanningTime = planResult.PlanningTime;
pd.Valid = planResult.Valid;
pd.ActiveAgent = activeAgent;
AddResult(pd);
}
public void SingleAgentSDRPlanner_TestConvertToSingleAgentProblemBoxes()
{
string filePathProblem = Directory.GetParent(Directory.GetCurrentDirectory()).Parent.Parent.Parent.FullName + @"\PlanningProblems\BoxPushing\B3\p.pddl";
string filePathDomain = Directory.GetParent(Directory.GetCurrentDirectory()).Parent.Parent.Parent.FullName + @"\PlanningProblems\BoxPushing\B3\d.pddl";
Domain d = Parser.ParseDomain(filePathDomain, "agent");
Problem p = Parser.ParseProblem(filePathProblem, d);
// parameters
Constant currentAgent = new Constant("agent", "a1");
SingleAgentSDRPlanner saSDR = new SingleAgentSDRPlanner(d, p, SDRPlanner.Planners.FF);
PlanResult result = saSDR.Plan(currentAgent, null, null, null);
Assert.IsNotNull(result.Plan);
}
