public void UpdateIntermediatePlan(byte layerIndex, PlannerResult plan)
{
if (layerIndex >= _domain.IntermediateLayerCount)
{
return;
}
var planCount = plan.Count;
var planBufferSize = plan.BufferSize;
if (planCount > planBufferSize)
{
return;
}
var actionPool = _domain.IntermediateLayers[layerIndex];
var actionPoolLength = actionPool.Length;
var currentPlan = _intermediateGoals[layerIndex] = new string[planCount];
for (byte i = 0; i < planCount; i++)
{
if (plan[i] < actionPoolLength && actionPool[i] != null)
{
currentPlan[i] = actionPool[i].name;
}
else
{
currentPlan[i] = "INVALID";
}
}
_activeGoalsIndices[layerIndex] = plan.CurrentIndex;
}
public MainPlannerJob(
RawLayer layer,
PlannerResult previousLayerResult,
PlannerResult currentPlan,
float maxFScore,
RawBlackboardArray datasets,
PlannerResult output)
{
// domain
layer.Break(out _targets, out _actions);
_goal = default;
// layering
_previousLayerResult = previousLayerResult;
// previous run
_currentPlan = currentPlan;
// settings
_maxFScore = maxFScore;
// runtime data
_datasets = datasets;
// output
_output = output;
}
public void UpdateCorePlan(PlannerResult plan)
{
var planCount = plan.Count;
var planBufferSize = plan.BufferSize;
if (planCount > planBufferSize)
{
return;
}
var actionPool = _domain.Actions;
var actionPoolLength = actionPool.Length;
var currentPlan = _actions = new string[planCount];
_executables = new string[planCount][];
_services = new string[planCount][];
for (byte i = 0; i < planCount; i++)
{
var currentAction = actionPool[i];
if (plan[i] < actionPoolLength && currentAction != null)
{
currentPlan[i] = currentAction.name;
var executablesPool = currentAction.Collection4;
var executablesCount = executablesPool.Length;
var currentExecutables = _executables[i] = new string[executablesCount];
for (var j = 0; j < executablesCount; j++)
{
currentExecutables[j] = ((Object)executablesPool[j]).name;
}
var servicesPool = currentAction.Collection5;
var servicesCount = servicesPool.Length;
var currentServices = _services[i] = new string[servicesCount];
for (var j = 0; j < servicesCount; j++)
{
currentServices[j] = ((Object)servicesPool[j]).name;
}
}
else
{
currentPlan[i] = "INVALID";
_executables[i] = new string[0];
_services[i] = new string[0];
}
}
_activeActionIndex = plan.CurrentIndex;
}
public GoalCalculatorJob(IBlackboardComponent blackboard, RawInsistenceCalculatorsArray domainData, PlannerResult result)
{
_blackboard = blackboard.Data;
_insistenceCalculators = domainData;
_result = result;
}
