public MainPlannerJob(
RawLayer layer,
PlannerResult previousLayerResult,
PlannerResult currentPlan,
float maxFScore,
RawBlackboardArray datasets,
PlannerResult output)
{
// domain
layer.Break(out _targets, out _actions);
_goal = default;
// layering
_previousLayerResult = previousLayerResult;
// previous run
_currentPlan = currentPlan;
// settings
_maxFScore = maxFScore;
// runtime data
_datasets = datasets;
// output
_output = output;
}
public void Execute()
{
var previousLayerResult = _previousLayerResult.ResultType;
// if parent planner is uninitialized then mark self as failed
if (previousLayerResult == PlannerResultType.Uninitialized)
{
Debug.LogError("Planner was run with the parent result still being uninitialized.");
_output.ResultType = PlannerResultType.Failure;
_output.Count = 0;
return;
}
// if parent planner failed, no point in calculating anything
if (previousLayerResult == PlannerResultType.Failure)
{
_output.ResultType = PlannerResultType.Failure;
_output.Count = 0;
return;
}
_goal = _targets[_previousLayerResult[_previousLayerResult.CurrentIndex]];
if (previousLayerResult == PlannerResultType.Unchanged && CurrentPlanIsStillValid())
{
_output.Container.CopyFrom(_currentPlan.Container);
_output.ResultType = PlannerResultType.Unchanged;
return;
}
float threshold = _goal.CalculateHeuristic(_datasets[0]);
float score;
while ((score = PerformHeuristicEstimatedSearch(1, 0, threshold)) > 0 && score <= _maxFScore)
{
threshold = score;
}
_datasets = new RawBlackboardArray();
if (score > _maxFScore)
{
_output.ResultType = PlannerResultType.Failure;
_output.Count = 0;
}
}
