public static SearchResults runPlanner(string problem, Heuristic h, bool useTwoQueues = false, int maxTimeMinutes = 10)
{
Problem p = new Problem(problem, false);
p.DomainName = Path.GetFileName(Path.GetDirectoryName(problem));
if (useTwoQueues)
{
MultiHeuristicAStarSearch engine = new MultiHeuristicAStarSearch(p, new List <IHeuristic>()
{
h, new FFHeuristic(p)
});
engine.TimeLimitOfSearch = TimeSpan.FromMinutes(maxTimeMinutes);
engine.Start();
return(engine.GetSearchResults(false));
}
else
{
AStarSearch engine = new AStarSearch(p, h);
engine.TimeLimitOfSearch = TimeSpan.FromMinutes(maxTimeMinutes);
engine.Start();
return(engine.GetSearchResults(false));
}
}
public void TC_MultiHeuristicAStarSearch()
{
var sasProblem = new Planner.SAS.Problem(new SASInputData(GetFilePath("TC_Gripper.sas")));
var sasSearch = new MultiHeuristicAStarSearch(sasProblem, new BlindHeuristic());
sasSearch.Start();
var sasSolution = sasSearch.GetSearchResults();
Assert.AreEqual("Multi-Heuristic A* Search", sasSolution.Algorithm);
Assert.AreEqual("TC_Gripper", sasSolution.ProblemName);
Assert.AreEqual("Blind Heuristic", sasSolution.Heuristic);
Assert.AreEqual(ResultStatus.SolutionFound, sasSolution.ResultStatus);
Assert.IsTrue(sasSolution.SearchTime.TotalMilliseconds > 0);
Assert.AreEqual(11, sasSolution.SolutionCost);
Assert.IsNotNull(sasSolution.SolutionPlan);
Assert.AreEqual(11, sasSolution.SolutionPlan.GetCost());
var sasSearch2 = new MultiHeuristicAStarSearch(sasProblem, new BlindHeuristic());
sasSearch2.Start(SearchType.BackwardWithConditions);
var sasSolution2 = sasSearch2.GetSearchResults();
Assert.AreEqual("Multi-Heuristic A* Search (Backward)", sasSolution2.Algorithm);
Assert.AreEqual("TC_Gripper", sasSolution2.ProblemName);
Assert.AreEqual("Blind Heuristic", sasSolution2.Heuristic);
Assert.AreEqual(ResultStatus.SolutionFound, sasSolution2.ResultStatus);
Assert.IsTrue(sasSolution2.SearchTime.TotalMilliseconds > 0);
Assert.AreEqual(11, sasSolution2.SolutionCost);
Assert.IsNotNull(sasSolution2.SolutionPlan);
Assert.AreEqual(11, sasSolution2.SolutionPlan.GetCost());
var sasSearch3 = new MultiHeuristicAStarSearch(sasProblem, new BlindHeuristic());
sasSearch3.Start(SearchType.BackwardWithStates);
var sasSolution3 = sasSearch3.GetSearchResults();
Assert.AreEqual("Multi-Heuristic A* Search (Backward)", sasSolution3.Algorithm);
Assert.AreEqual("TC_Gripper", sasSolution3.ProblemName);
Assert.AreEqual("Blind Heuristic", sasSolution3.Heuristic);
Assert.AreEqual(ResultStatus.SolutionFound, sasSolution3.ResultStatus);
Assert.IsTrue(sasSolution3.SearchTime.TotalMilliseconds > 0);
Assert.AreEqual(11, sasSolution3.SolutionCost);
Assert.IsNotNull(sasSolution3.SolutionPlan);
Assert.AreEqual(11, sasSolution3.SolutionPlan.GetCost());
var pddlProblem = new Planner.PDDL.Problem(new PDDLInputData(GetFilePath("TC_Gripper_D.pddl"), GetFilePath("TC_Gripper_P.pddl")));
var pddlSearch = new MultiHeuristicAStarSearch(pddlProblem, new BlindHeuristic());
pddlSearch.Start();
var pddlSolution = pddlSearch.GetSearchResults();
Assert.AreEqual("Multi-Heuristic A* Search", pddlSolution.Algorithm);
Assert.AreEqual("gripper", pddlSolution.DomainName);
Assert.AreEqual("problem-1", pddlSolution.ProblemName);
Assert.AreEqual("Blind Heuristic", pddlSolution.Heuristic);
Assert.AreEqual(ResultStatus.SolutionFound, pddlSolution.ResultStatus);
Assert.IsTrue(pddlSolution.SearchTime.TotalMilliseconds > 0);
Assert.AreEqual(5, pddlSolution.SolutionCost);
Assert.IsNotNull(pddlSolution.SolutionPlan);
Assert.AreEqual(5, pddlSolution.SolutionPlan.GetCost());
var pddlSearch2 = new MultiHeuristicAStarSearch(pddlProblem, new BlindHeuristic());
pddlSearch2.Start(SearchType.BackwardWithConditions);
var pddlSolution2 = pddlSearch2.GetSearchResults();
Assert.AreEqual("Multi-Heuristic A* Search (Backward)", pddlSolution2.Algorithm);
Assert.AreEqual("gripper", pddlSolution2.DomainName);
Assert.AreEqual("problem-1", pddlSolution2.ProblemName);
Assert.AreEqual("Blind Heuristic", pddlSolution2.Heuristic);
Assert.AreEqual(ResultStatus.SolutionFound, pddlSolution2.ResultStatus);
Assert.IsTrue(pddlSolution2.SearchTime.TotalMilliseconds > 0);
Assert.AreEqual(5, pddlSolution2.SolutionCost);
Assert.IsNotNull(pddlSolution2.SolutionPlan);
Assert.AreEqual(5, pddlSolution2.SolutionPlan.GetCost());
var pddlSearch3 = new MultiHeuristicAStarSearch(pddlProblem, new BlindHeuristic());
pddlSearch3.Start(SearchType.BackwardWithStates);
var pddlSolution3 = pddlSearch3.GetSearchResults();
Assert.AreEqual("Multi-Heuristic A* Search (Backward)", pddlSolution3.Algorithm);
Assert.AreEqual("gripper", pddlSolution3.DomainName);
Assert.AreEqual("problem-1", pddlSolution3.ProblemName);
Assert.AreEqual("Blind Heuristic", pddlSolution3.Heuristic);
Assert.AreEqual(ResultStatus.SolutionFound, pddlSolution3.ResultStatus);
Assert.IsTrue(pddlSolution3.SearchTime.TotalMilliseconds > 0);
Assert.AreEqual(5, pddlSolution3.SolutionCost);
Assert.IsNotNull(pddlSolution3.SolutionPlan);
Assert.AreEqual(5, pddlSolution3.SolutionPlan.GetCost());
}