public PlanSpaceNode(PlanSpaceNode parent, PlanSpaceEdge incoming)
{
this.parent = parent;
this.incoming = incoming;
outgoing = new List <PlanSpaceEdge>();
children = new Hashtable();
plan = new Plan();
problem = new Problem();
id = System.Threading.Interlocked.Increment(ref Counter);
}
public PlanSpaceNode()
{
parent = null;
incoming = null;
outgoing = new List <PlanSpaceEdge>();
children = new Hashtable();
plan = new Plan();
problem = new Problem();
id = System.Threading.Interlocked.Increment(ref Counter);
}
// Returns the root of a mediation tree.
public static PlanSpaceNode BuildTree(Domain domain, Problem problem, Plan plan, int depth)
{
// Create the root mediation node.
PlanSpaceNode root = new PlanSpaceNode();
// Assign the node's plan.
root.plan = plan;
// Assign the node's problem.
root.problem = problem;
// Make and populate a list of possible exceptional actions.
root.outgoing = GetExceptionals(domain, problem, plan);
// Return the node if the depth limit has been reached.
if (depth == 0)
{
return(root);
}
// Loop through the possible exceptional actions.
foreach (PlanSpaceEdge action in root.outgoing)
{
// Create a new problem object for the exceptional action.
Problem newProblem = NewProblem(domain, problem, action);
// Find an accommodative solution for the exceptional action.
Plan newPlan = FastDownward.Plan(domain, newProblem);
// Create a new mediation node.
PlanSpaceNode child = BuildTree(domain, newProblem, newPlan, depth - 1);
// Assign the child's parent node.
child.parent = root;
// Assign the child's exceptional action.
child.incoming = action;
// Add the child to the root's children.
root.children[action] = child;
}
// Return the root node.
return(root);
}
