public static BoltFreezer.Utilities.Tuple <Composite, List <Decomposition> > MultimoveComposites()
{
var decomps = ReadMultimoveDecompositions();
var composite = ReadMultimoveCompositeOperator();
var CompositeMethods = new BoltFreezer.Utilities.Tuple <Composite, List <Decomposition> >(composite, decomps);
return(CompositeMethods);
}
public static List <Problem> RandomProblemGenerator(int numProblems, BoltFreezer.Utilities.Tuple <int, int> blockRange, int agentMax, int maxGoals, string domainName)
{
List <Problem> generatedProblems = new List <Problem>();
Random r = new Random();
for (int i = 0; i < numProblems; i++)
{
var blocks = r.Next(blockRange.First, blockRange.Second + 1);
var agents = r.Next(1, agentMax + 1);
var locs = r.Next(blocks + agents, blocks + agents + blockRange.Second + 1);
var goals = r.Next(1, Math.Min(blocks + 1, maxGoals + 1));
// Create a problem with this specification.
List <IObject> problemObjects = new List <IObject>();
List <IPredicate> initialPreds = new List <IPredicate>();
List <IPredicate> goalPreds = new List <IPredicate>();
// First, create locations. Each new location is randomly adjacent to between 1 and 4
var assignableLocations = new List <Obj>();
for (int j = 0; j < locs; j++)
{
var newLoc = new Obj(string.Format("location_{0}", j), "location");
assignableLocations.Add(newLoc);
if (j > 0)
{
// pick a value that's between 1 and 3 (or however many locations have been created
var numAdjacentsToCreate = Math.Min(r.Next(1, 4), problemObjects.Count());
var result = problemObjects.PickRandom(numAdjacentsToCreate);
foreach (var loc in result)
{
var newAdjacent = new Predicate("adjacent", new List <ITerm>()
{
new Term(loc.Name, true) as ITerm, new Term(newLoc.Name, true) as ITerm
}, true) as IPredicate;
initialPreds.Add(newAdjacent);
var newAdjacent2 = new Predicate("adjacent", new List <ITerm>()
{
new Term(newLoc.Name, true) as ITerm, new Term(loc.Name, true) as ITerm
}, true) as IPredicate;
initialPreds.Add(newAdjacent2);
}
}
problemObjects.Add(newLoc as IObject);
}
// pick location of blocks and agents
var blockLocations = problemObjects.PickRandom(blocks).ToList();
var agentLocations = problemObjects.Where(loc => !blockLocations.Contains(loc)).PickRandom(agents).ToList();
// Create Blocks
var assignableBlocks = new List <Obj>();
for (int j = 0; j < blocks; j++)
{
// blockLocation
var bl = blockLocations[j];
// create a new block
var newBlock = new Obj(string.Format("block_{0}", j), "block");
initialPreds.Add(new Predicate("at", new List <ITerm>()
{
new Term(newBlock.Name, true) as ITerm, new Term(bl.Name, true) as ITerm
}, true) as IPredicate);
initialPreds.Add(new Predicate("occupied", new List <ITerm>()
{
new Term(bl.Name, true)
}, true) as IPredicate);
problemObjects.Add(newBlock as IObject);
assignableBlocks.Add(newBlock);
}
// Create Agents
for (int j = 0; j < agents; j++)
{
// agentLocation
var al = agentLocations[j];
// create new agent
var newAgent = new Obj(string.Format("agent_{0}", j), "steeringagent");
initialPreds.Add(new Predicate("at", new List <ITerm>()
{
new Term(newAgent.Name, true) as ITerm, new Term(al.Name, true) as ITerm
}, true) as IPredicate);
initialPreds.Add(new Predicate("freehands", new List <ITerm>()
{
new Term(newAgent.Name, true)
}, true) as IPredicate);
initialPreds.Add(new Predicate("occupied", new List <ITerm>()
{
new Term(al.Name, true)
}, true) as IPredicate);
problemObjects.Add(newAgent as IObject);
}
// Assign Goals
var alreadyAssignedLocations = new List <Obj>();
for (int j = 0; j < goals; j++)
{
// pick a block, just pick the j-th block
var blockToAssign = assignableBlocks[j];
var goalBlockPosition = assignableLocations.First(loc => !loc.Name.Equals(blockLocations[j].Name) && !alreadyAssignedLocations.Contains(loc));
goalPreds.Add(new Predicate("at", new List <ITerm>()
{
new Term(blockToAssign.Name, true) as ITerm, new Term(goalBlockPosition.Name, true) as ITerm
}, true) as IPredicate);
alreadyAssignedLocations.Add(goalBlockPosition);
}
// instantiate problem
var generatedProblem = new Problem(i.ToString(), i.ToString(), domainName, "", problemObjects, initialPreds, goalPreds);
generatedProblems.Add(generatedProblem);
}
return(generatedProblems);
}
