/// <summary>
/// Reconstructs the plan by going backwards from the goal.
/// </summary>
/// <param name="goalState">The goal state from which to start going backwards</param>
public Plan(AgentState goalState)
{
AgentState currentNode = goalState;
this.locationsAtTimes = new LinkedList <List <Move> >(); // TODO: Initialize list with #agents
while (currentNode != null)
{
var l = new List <Move>();
l.Add(currentNode.GetMove());
this.locationsAtTimes.AddFirst(l);
currentNode = currentNode.prev;
}
}
public SinglePlan(AgentState goalState)
{
this.agentNum = goalState.agent.agentNum;
AgentState currentNode = goalState;
LinkedList <Move> locations = new LinkedList <Move>();
while (currentNode != null)
{
locations.AddFirst(currentNode.GetMove());
currentNode = currentNode.prev;
}
this.locationAtTimes = locations.ToList <Move>();
}