public void TC_IStateOrConditions()
{
var problem = new Planner.SAS.Problem(new SASInputData(GetFilePath("TC_Gripper.sas")));
var heuristic = new FFHeuristic(problem);
IStateOrConditions state = problem.InitialState;
IStateOrConditions state2 = new Planner.SAS.State(1, 1, 1, 1, 0, 4, 4);
Assert.IsTrue(CollectionsEquality.Equals(problem.GetSuccessors((IState)state), state.DetermineTransitions(problem)));
Assert.IsFalse(state.DetermineGoalNode(problem));
Assert.IsTrue(state2.DetermineGoalNode(problem));
Assert.AreEqual(heuristic.GetValue((IState)state), state.DetermineHeuristicValue(heuristic));
IStateOrConditions conditions = problem.GoalConditions;
IStateOrConditions conditions2 = new Planner.SAS.Conditions(new Planner.SAS.Assignment(5, 4), new Planner.SAS.Assignment(6, 4));
Assert.IsTrue(CollectionsEquality.Equals(problem.GetPredecessors((IConditions)conditions), conditions.DetermineTransitions(problem)));
Assert.IsFalse(conditions.DetermineGoalNode(problem));
Assert.IsTrue(conditions2.DetermineGoalNode(problem));
Assert.AreEqual(heuristic.GetValue((IConditions)conditions), conditions.DetermineHeuristicValue(heuristic));
IStateOrConditions relativeState = problem.GoalConditions.GetCorrespondingRelativeStates(problem).First();
IStateOrConditions relativeState2 = new Planner.SAS.RelativeState(-1, -1, -1, -1, -1, 4, 4);
Assert.IsTrue(CollectionsEquality.Equals(problem.GetPredecessors((IRelativeState)relativeState), relativeState.DetermineTransitions(problem)));
Assert.IsFalse(relativeState.DetermineGoalNode(problem));
Assert.IsTrue(relativeState2.DetermineGoalNode(problem));
Assert.AreEqual(heuristic.GetValue((IRelativeState)relativeState), relativeState.DetermineHeuristicValue(heuristic));
}
protected override double GetValueImpl(PAD.Planner.IState state)
{
float heurVal = nextFFHeurResult == -1 ? (float)heur.GetValue(state) : (float)nextFFHeurResult;
nextFFHeurResult = -1;
nnInputs[nnInputs.Count - 1] = heurVal;
double networkVal = network.eval(nnInputs);
return(networkVal >= 0 ? networkVal + (double)heurVal / 10000 : heurVal); //breaking ties in this heuristic values by values of the inner heuristic
}
public void TC_FFHeuristic()
{
var sasProblem = new Planner.SAS.Problem(new SASInputData(GetFilePath("TC_Gripper.sas")));
var pddlProblem = new Planner.PDDL.Problem(new PDDLInputData(GetFilePath("TC_Gripper_D.pddl"), GetFilePath("TC_Gripper_P.pddl")));
var heuristic = new FFHeuristic(sasProblem);
Assert.AreEqual(9, heuristic.GetValue(sasProblem.GetInitialState()));
Assert.AreEqual(9, heuristic.GetValue(sasProblem.GetGoalConditions()));
Assert.AreEqual(9, heuristic.GetValue(sasProblem.GetGoalConditions().GetCorrespondingRelativeStates(sasProblem).First()));
Assert.AreEqual("FF Heuristic", heuristic.GetName());
Assert.AreEqual(3, heuristic.GetCallsCount());
var heuristic2 = new FFHeuristic(pddlProblem);
Assert.AreEqual(5, heuristic2.GetValue(pddlProblem.GetInitialState()));
Assert.AreEqual(5, heuristic2.GetValue(pddlProblem.GetGoalConditions()));
Assert.AreEqual(5, heuristic2.GetValue(pddlProblem.GetGoalConditions().GetCorrespondingRelativeStates(pddlProblem).First()));
Assert.AreEqual("FF Heuristic", heuristic2.GetName());
Assert.AreEqual(3, heuristic2.GetCallsCount());
}
public static double computeFFHeuristic(string stateString)
{
var splitted = stateString.Split('_');
string domainName = splitted[0];
string problemName = splitted[1];
string stateAsString = splitted[2];
string sasProblemPath = Path.Combine(SAS_all_WithoutAxioms, domainName, problemName);
Problem p = new Problem(sasProblemPath, false);
IState state = State.Parse(stateAsString);
FFHeuristic h = new FFHeuristic(p);
return(h.GetValue(state));
}