/// <summary>
/// Returns a plan queue for the agent to use.
/// </summary>
public Queue <GAction> Plan(List <GAction> actions, Dictionary <State, int> goal, WorldStates beliefStates)
{
// ---------- FILTER OUT UNACHIEVABLE ACTIONS ----------
List <GAction> usableActions = new List <GAction>();
foreach (GAction a in actions)
{
if (a.IsAchievable())
{
usableActions.Add(a);
}
}
// -------- CREATE THE FIRST NODE IN THE GRAPH --------
Node startingNode = new Node(null, 0.0f, GWorld.Instance.GetWorld().GetStates(), beliefStates.GetStates(), null);
// ------------- CALCULATE POSSIBLE PATHS -------------
List <Node> leaves = new List <Node>();
bool success = BuildGraph(startingNode, leaves, usableActions, goal);
// ------- CHECK IF AT LEAST ONE PLAN WAS FOUND -------
if (!success)
{
//Debug.Log("NO PLAN");
return(null);
}
// -------------- FIND THE CHEAPEST PLAN --------------
Node cheapest = null;
foreach (Node leaf in leaves) // CONTAINS ACCUMULATED COST FROM ALL NODES IN EACH PLAN
{
if (cheapest == null || leaf.cost < cheapest.cost)
{
cheapest = leaf;
}
}
// --------- ASSEMBLE RESULTING PLAN INTO LIST ---------
List <GAction> resultingPlanList = new List <GAction>();
Node n = cheapest;
while (n != null)
{
if (n.action != null)
{
resultingPlanList.Insert(0, n.action);
}
n = n.parent;
}
// --------- TRANSFER PLAN LIST INTO A QUEUE ---------
Queue <GAction> resultingPlanQueue = new Queue <GAction>();
foreach (GAction a in resultingPlanList)
{
resultingPlanQueue.Enqueue(a);
}
// --------------- PRINT OUT THE PLAN ----------------
Debug.Log("The Plan is: ");
foreach (GAction a in resultingPlanQueue)
{
Debug.Log("Q: " + a.actionName);
}
// ----------------- RETURN THE PLAN -----------------
return(resultingPlanQueue);
}