public List <Action> SolveII(Problem p, Domain d)
{
State sStart = p.GetInitialBelief().ChooseState(true);
List <State> lOpenList = new List <State>();
lOpenList.Add(sStart);
State sCurrent = null, sNext = null;
Dictionary <State, Action> dMapStateToGeneratingAction = new Dictionary <State, Action>();
dMapStateToGeneratingAction[sStart] = null;
Dictionary <State, State> dParents = new Dictionary <State, State>();
Dictionary <State, int> dDepth = new Dictionary <State, int>();
dDepth[sStart] = 0;
dParents[sStart] = null;
int cProcessed = 0;
List <string> lActionNames = new List <string>();
while (lOpenList.Count > 0)
{
sCurrent = lOpenList[0];
lOpenList.RemoveAt(0);
List <Action> lActions = d.GroundAllActions(sCurrent.Predicates, false);
foreach (Action a in lActions)
{
sNext = sCurrent.Apply(a);
bool bGiven = false;
foreach (Predicate pGiven in sNext.Predicates)
{
if (pGiven.Name.ToLower().Contains("given"))
{
bGiven = true;
}
}
if (!lActionNames.Contains(a.Name))
{
lActionNames.Add(a.Name);
}
if (sNext != null && p.IsGoalState(sNext))
{
return(GeneratePlan(sCurrent, a, dParents, dMapStateToGeneratingAction));
}
if (!dParents.Keys.Contains(sNext))
{
dDepth[sNext] = dDepth[sCurrent] + 1;
dParents[sNext] = sCurrent;
dMapStateToGeneratingAction[sNext] = a;
lOpenList.Add(sNext);
}
}
cProcessed++;
if (cProcessed % 10 == 0)
{
Debug.WriteLine(cProcessed + ") " + dDepth[sCurrent] + "," + lOpenList.Count);
}
}
return(null);
}
public List <Action> RadnomSolve(Problem p, Domain d)
{
State sStart = p.GetInitialBelief().ChooseState(true);
List <Action> lActions = d.GroundAllActions(sStart.Predicates, false);
int iRnd = RandomGenerator.Next(lActions.Count);
List <Action> lPlan = new List <Action>();
lPlan.Add(lActions[iRnd]);
return(lPlan);
}
public List <Action> SolveOld(Problem p, Domain d)
{
State sStart = p.GetInitialBelief().ChooseState(true);
List <Action> lActions = new List <Action>();
State sObserved = ObserveAll(sStart, lActions, d);
State sFixed = ApplyAxiom(sObserved, lActions, d);
//State sClosed = CloseAll(sFixed, lActions, d);
//State sFixed2 = ApplyAxiom(sClosed, lActions, d);
State sObserved2 = ObserveAll(sFixed, lActions, d);
return(lActions);
}
public List <Action> Solve(Problem p, Domain d)
{
State sStart = p.GetInitialBelief().ChooseState(true);
List <Action> lActions = new List <Action>();
Action aClear = d.GroundActionByName(new string[] { "clear-all", "" }, sStart.Predicates, false);
sStart = sStart.Apply(aClear);
lActions.Add(aClear);
State sComputeUpstream = ApplyCompute(sStart, "upstream", lActions, d);
State sComputeAffected = ApplyCompute(sComputeUpstream, "affected", lActions, d);
State sComputePath = ApplyCompute(sComputeAffected, "path", lActions, d);
State sComputeLine = ApplyCompute(sComputePath, "line", lActions, d);
//State sObserveAll = ObserveAll(sComputeLine, lActions, d);
return(lActions);
}
public List <Action> ManualSolve(Problem p, Domain d)
{
State sStart = p.GetInitialBelief().ChooseState(true);
State sCurrent = null, sNext = null;
Dictionary <State, Action> dMapStateToGeneratingAction = new Dictionary <State, Action>();
dMapStateToGeneratingAction[sStart] = null;
Dictionary <State, State> dParents = new Dictionary <State, State>();
dParents[sStart] = null;
int cProcessed = 0;
List <string> lActionNames = new List <string>();
sCurrent = sStart;
while (!p.IsGoalState(sCurrent))
{
List <Action> lActions = d.GroundAllActions(sCurrent.Predicates, false);
Debug.WriteLine("Available actions:");
for (int i = 0; i < lActions.Count; i++)
{
Debug.WriteLine(i + ") " + lActions[i].Name);
}
Debug.Write("Choose action number: ");
int iAction = int.Parse(Console.ReadLine());
Action a = lActions[iAction];
sNext = sCurrent.Apply(a);
foreach (Predicate pNew in sNext.Predicates)
{
if (!sCurrent.Predicates.Contains(pNew))
{
Debug.WriteLine(pNew);
}
}
if (!dParents.Keys.Contains(sNext))
{
dParents[sNext] = sCurrent;
dMapStateToGeneratingAction[sNext] = a;
}
sCurrent = sNext;
cProcessed++;
}
return(GeneratePlan(sCurrent, null, dParents, dMapStateToGeneratingAction));
}
