public static IPlan ReadAndCompile(bool serializeIt, int whichProblem)
{
Parser.path = @"D:\documents\frostbow\boltfreezer\";
GroundActionFactory.Reset();
CacheMaps.Reset();
var pfreeze = ReadDomainAndProblem(serializeIt, whichProblem);
var decomps = ReadDecompositions();
var composite = AddCompositeOperator();
var CompositeMethods = new Dictionary <Composite, List <Decomposition> >();
CompositeMethods[composite] = decomps;
Composite.ComposeHTNs(2, CompositeMethods);
CacheMaps.CacheLinks(GroundActionFactory.GroundActions);
var initPlan = PlanSpacePlanner.CreateInitialPlan(pfreeze);
CacheMaps.CacheGoalLinks(GroundActionFactory.GroundActions, initPlan.Goal.Predicates);
GroundActionFactory.DetectStatics(CacheMaps.CausalTupleMap, CacheMaps.ThreatTupleMap);
return(initPlan);
}
public static void RunProblem(string directory, string domainName, string domainDirectory, Domain domain, Problem problem, float cutoff, int HTN_level, Dictionary <Composite, List <Decomposition> > CompositeMethods)
{
// Reset Cached Items
GroundActionFactory.Reset();
CacheMaps.Reset();
var PF = new ProblemFreezer(domainName, domainDirectory, domain, problem);
PF.Serialize();
Console.WriteLine("Detecting Statics");
GroundActionFactory.DetectStatics();
var initPlan = PlanSpacePlanner.CreateInitialPlan(PF);
// Removing irrelevant actions
Console.WriteLine("Removing Irrelevant Actions");
var staticInitial = initPlan.Initial.Predicates.Where(state => GroundActionFactory.Statics.Contains(state));
// Every action that has No preconditions which are both static and not in staticInitial
var possibleActions = GroundActionFactory.GroundActions.Where(action => !action.Preconditions.Any(pre => GroundActionFactory.Statics.Contains(pre) && !staticInitial.Contains(pre)));
GroundActionFactory.GroundActions = possibleActions.ToList();
GroundActionFactory.GroundLibrary = possibleActions.ToDictionary(item => item.ID, item => item);
// Composing HTNs
Console.WriteLine("Composing HTNs");
Composite.ComposeHTNs(HTN_level, CompositeMethods);
// Caching Causal Maps
Console.WriteLine("Caching Causal Maps");
CacheMaps.Reset();
CacheMaps.CacheLinks(GroundActionFactory.GroundActions);
CacheMaps.CacheGoalLinks(GroundActionFactory.GroundActions, initPlan.Goal.Predicates);
// Cache Heuristic Costs (dynamic programming)
Console.WriteLine("Caching Heuristic Costs");
CacheMaps.CacheAddReuseHeuristic(initPlan.Initial);
// Redo to gaurantee accuracy (needs refactoring)
initPlan = PlanSpacePlanner.CreateInitialPlan(PF);
var probNum = Int32.Parse(problem.Name);
Console.WriteLine(String.Format("Running Problem {0}", probNum));
RunPlanner(initPlan.Clone() as IPlan, new ADstar(false), new E0(new AddReuseHeuristic(), true), cutoff, directory, probNum);
//RunPlanner(initPlan.Clone() as IPlan, new ADstar(true), new E0(new AddReuseHeuristic()), cutoff, directory, probNum);
//RunPlanner(initPlan.Clone() as IPlan, new ADstar(true), new E1(new AddReuseHeuristic()), cutoff, directory, probNum);
//RunPlanner(initPlan.Clone() as IPlan, new ADstar(true), new E2(new AddReuseHeuristic()), cutoff, directory, probNum);
//RunPlanner(initPlan.Clone() as IPlan, new ADstar(true), new E3(new AddReuseHeuristic()), cutoff, directory, probNum);
//RunPlanner(initPlan.Clone() as IPlan, new BFS(false), new Nada(new ZeroHeuristic()), cutoff, directory, probNum);
// RunPlanner(initPlan.Clone() as IPlan, new BFS(true), new Nada(new ZeroHeuristic()), cutoff, directory, probNum);
}
public static IPlan ReadAndCompile(bool serializeIt, int whichProblem)
{
Parser.path = @"D:\documents\frostbow\boltfreezer\";
GroundActionFactory.Reset();
CacheMaps.Reset();
// Reads Domain and problem, also populates ground actions and caches causal maps
var pfreeze = ReadDomainAndProblem(serializeIt, whichProblem);
// Detecting static conditions
Console.WriteLine("Detecting Statics");
GroundActionFactory.DetectStatics();
var initPlan = PlanSpacePlanner.CreateInitialPlan(pfreeze);
// Removing irrelevant actions
Console.WriteLine("Removing Irrelevant Actions");
var staticInitial = initPlan.Initial.Predicates.Where(state => GroundActionFactory.Statics.Contains(state));
// Every action that has No preconditions which are both static and not in staticInitial
var possibleActions = GroundActionFactory.GroundActions.Where(action => !action.Preconditions.Any(pre => GroundActionFactory.Statics.Contains(pre) && !staticInitial.Contains(pre)));
GroundActionFactory.GroundActions = possibleActions.ToList();
GroundActionFactory.GroundLibrary = possibleActions.ToDictionary(item => item.ID, item => item);
var CompositeMethods = ReadCompositeOperators();
// Composing HTNs
Console.WriteLine("Composing HTNs");
Composite.ComposeHTNs(2, CompositeMethods);
// Caching Causal Maps
Console.WriteLine("Caching Causal Maps");
CacheMaps.Reset();
CacheMaps.CacheLinks(GroundActionFactory.GroundActions);
CacheMaps.CacheGoalLinks(GroundActionFactory.GroundActions, initPlan.Goal.Predicates);
CacheMaps.CacheAddReuseHeuristic(initPlan.Initial);
initPlan = PlanSpacePlanner.CreateInitialPlan(pfreeze);
return(initPlan);
}
public static IPlan ReadAndCompile(bool serializeIt, int whichProblem)
{
Parser.path = @"D:\documents\frostbow\boltfreezer\";
GroundActionFactory.Reset();
CacheMaps.Reset();
Tuple <Domain, Problem> problemSpec = JustReadDomainAndProblem(whichProblem);
var domain = problemSpec.First;
var problem = problemSpec.Second;
GroundActionFactory.PopulateGroundActions(domain, problem);
GroundActionFactory.DetectStatics();
var subsetOfOps = RemoveIrrelevantActions(new State(problem.Initial));
GroundActionFactory.Reset();
GroundActionFactory.GroundActions = subsetOfOps;
GroundActionFactory.GroundLibrary = subsetOfOps.ToDictionary(item => item.ID, item => item);
RemoveStaticPreconditions(GroundActionFactory.GroundActions);
CacheMaps.CacheLinks(GroundActionFactory.GroundActions);
CacheMaps.CacheGoalLinks(GroundActionFactory.GroundActions, problem.Goal);
CacheMaps.CacheAddReuseHeuristic(new State(problem.Initial));
var decomps = ReadDecompositions();
var composite = AddCompositeOperator();
var CompositeMethods = new Dictionary <Composite, List <Decomposition> >();
CompositeMethods[composite] = decomps;
Composite.ComposeHTNs(2, CompositeMethods);
// Cache links, now not bothering with statics
CacheMaps.Reset();
CacheMaps.CacheLinks(GroundActionFactory.GroundActions);
CacheMaps.CacheGoalLinks(GroundActionFactory.GroundActions, problem.Goal);
CacheMaps.PrimaryEffectHack(new State(problem.Initial) as IState);
var initPlan = PlanSpacePlanner.CreateInitialPlan(problem);
return(initPlan);
}