/// <summary>
/// Given a goal, formulates a plan.
/// </summary>
/// <param name="goal"></param>
/// <returns></returns>
public static Plan Formulate(Planner planner, StatefulAction[] actions, StratusWorldState currentState, StratusGoal goal)
{
// Reset all actions
foreach (var action in actions)
{
action.Reset();
}
// Get all valid actions whose context preconditions are true
var usableActions = (from action
in actions
where action.contextPrecondition && !currentState.Satisfies(action.effects)
select action).ToArray();
if (planner.debug)
{
StratusDebug.Log("Making plan to satisfy the goal '" + goal.Name + "' with preconditions:" + goal.DesiredState.ToString(), planner.agent);
StratusDebug.Log("Actions available:", planner.agent);
foreach (var action in usableActions)
{
StratusDebug.Log("- " + action.description, planner.agent);
}
}
// The path of actions
Search.Path path;
if (Plan.UseAstar)
{
Search search = new Search(currentState, goal.DesiredState, usableActions);
search.Tracing = planner.debug;
search.Initialize();
path = search.FindSolution();
}
else
{
// Build up a tree of nodes
path = new Search.Path();
Search.Node starting = new Search.Node(null, 0f, goal.DesiredState, null);
// Look for a solution, backtracking from the goal's desired world state until
// we have fulfilled every precondition leading up to it!
var hasFoundPath = FindSolution(path, starting, usableActions, planner);
// If the path has not been found
if (!hasFoundPath)
{
if (planner.debug)
{
StratusDebug.Log("No plan could be formulated!", planner.agent);
}
return(new Plan());
}
}
// If no solution was found
if (path == null)
{
return(null);
}
// Make the plan
var plan = new Plan();
foreach (var action in path)
{
plan.Add(action);
}
return(plan);
}
/// <summary>
/// Resets the symbols of the planner back before the goal was completed
/// </summary>
/// <param name="planner"></param>
void Reset(Planner planner)
{
}
/// <summary>
/// Looks for a solution, backtracking from the goal to the current world state
/// </summary>
/// <param name="parent"></param>
/// <param name="actions"></param>
/// <param name="goal"></param>
/// <param name="currentState"></param>
/// <returns></returns>
static bool FindSolution(Search.Path path, Search.Node parent, StatefulAction[] actions, Planner planner)
{
bool solutionFound = false;
Search.Node cheapestNode = null;
if (planner.debug)
{
StratusDebug.Log("Looking to fulfill the preconditions:" + parent.State.ToString());
}
// Look for actions that fulfill the preconditions
foreach (var action in actions)
{
if (action.effects.Satisfies(parent.State))
{
if (planner.debug)
{
StratusDebug.Log(action.description + " satisfies the preconditions");
}
// Create a new node
var node = new Search.Node(parent, parent.Cost + action.cost, action.preconditions, action);
// Replace the previous best node
if (cheapestNode == null)
{
cheapestNode = node;
}
else if (cheapestNode.Cost > node.Cost)
{
cheapestNode = node;
}
}
else
{
if (planner.debug)
{
StratusDebug.Log(action.description + " does not satisfy the preconditions");
}
}
}
// If no satisfactory action was found
if (cheapestNode == null)
{
// If the current state is already fulfilling this condition, we are done!
if (planner.state.Satisfies(parent.State))
{
return(true);
}
// Otherwise, no valid solution could be found
if (planner.debug)
{
StratusDebug.Log("No actions could fulfill these preconditions");
}
return(false);
}
// Add the cheapest node to the path
path.Add(cheapestNode.Action);
if (planner.debug)
{
StratusDebug.Log("Adding " + cheapestNode.Action.description + " to the path");
}
// If this action has no more preconditions left to fulfill
if (cheapestNode.Action.preconditions.isEmpty)
{
//Trace.Script("No preconditions left!");
solutionFound = true;
}
// Else if it has a precondition left to fulfill, keep looking
else
{
var actionSubset = (from remainingAction in actions where !remainingAction.Equals(cheapestNode.Action) select remainingAction).ToArray();
bool found = FindSolution(path, cheapestNode, actionSubset, planner);
if (found)
{
solutionFound = true;
}
}
return(solutionFound);
}