// Use this for initialization
void Start()
{
outputPlan = new Stack <DefaultAction>();
domainList = new List <PlanningDomainBase>();
domainList.Add(new ADAstarDomain());
planner = new ADAstarPlanner();
planner.init(ref domainList, 100);
DStartState = ADAexecution.startState as DefaultState;
DGoalState = ADAexecution.goalState as DefaultState;
planner.InitializeValues(ref DStartState, ref DGoalState, 2.5f, ref outputPlan,
PlannerMode.PLANNING_MODE.IncreaseFactor, .2f, 0.0f);
Debug.Log(ADAstarPlanner.Closed.Count);
Debug.Log("Finished");
// foreach(Edge edge in planner.edgeList.Values)
// {
// Debug.Log("Edge: u: " + (edge.u as ADAstarState).state);
// Debug.Log("Edge: v: " + (edge.v as ADAstarState).state);
// }
}
// Use this for initialization
public override void Init(AnimationAnalyzer animAnalyzer, NeighbourAgents neighborhood, NeighbourObstacles obstacles)
{
analyzer = animAnalyzer;
if (analyzer != null && !analyzer.initialized)
{
analyzer.Init();
}
storedPlan = new List <FootstepPlanningAction>();
outputPlan = new Stack <DefaultAction>();
domainList = new List <PlanningDomainBase>();
domainList.Add(new FootstepPlanningDomain(analyzer, neighborhood, obstacles));
planner = new ADAstarPlanner();
planner.init(ref domainList, MaxNumberOfNodes);
initialized = true;
currentState = null;
isPlanComputed = false;
planChanged = false;
goalMeshRenderer = goalStateTransform.gameObject.GetComponent("MeshRenderer") as MeshRenderer;
currentGoal = goalStateTransform.position;
}
// Use this for initialization
void Start()
{
outputPlan = new Stack<DefaultAction>();
domainList = new List<PlanningDomainBase>();
domainList.Add(new ADAstarDomain());
planner = new ADAstarPlanner();
planner.init(ref domainList, 100);
DStartState = ADAexecution.startState as DefaultState;
DGoalState = ADAexecution.goalState as DefaultState;
planner.InitializeValues(ref DStartState, ref DGoalState, 2.5f, ref outputPlan,
PlannerMode.PLANNING_MODE.IncreaseFactor, .2f, 0.0f);
Debug.Log(ADAstarPlanner.Closed.Count);
Debug.Log("Finished");
// foreach(Edge edge in planner.edgeList.Values)
// {
// Debug.Log("Edge: u: " + (edge.u as ADAstarState).state);
// Debug.Log("Edge: v: " + (edge.v as ADAstarState).state);
// }
}
// Use this for initialization
public override void Init(AnimationAnalyzer animAnalyzer, NeighbourAgents neighborhood, NeighbourObstacles obstacles)
{
analyzer = animAnalyzer;
if (analyzer != null && !analyzer.initialized)
analyzer.Init();
storedPlan = new List<FootstepPlanningAction>();
outputPlan = new Stack<DefaultAction>();
domainList = new List<PlanningDomainBase>();
domainList.Add(new FootstepPlanningDomain(analyzer, neighborhood, obstacles));
planner = new ADAstarPlanner();
planner.init(ref domainList, MaxNumberOfNodes);
initialized = true;
currentState = null;
isPlanComputed = false;
planChanged = false;
goalMeshRenderer = goalStateTransform.gameObject.GetComponent("MeshRenderer") as MeshRenderer;
currentGoal = goalStateTransform.position;
}