private double PathfindingHeuristic(ForwardNode sourceNode, ForwardNode targetNode)
{
DebugUtils.Assert(!sourceNode.IsGoal, "sourceNode must be a regular (non-goal) {0}", typeof(ForwardNode));
DebugUtils.Assert(targetNode.IsGoal, "targetNode must be a goal {0}", typeof(ForwardNode));
return(targetNode.Goal.GetDistanceFrom(sourceNode.WorldState) * experienceWeight);
}
public Plan FormulatePlan(
IKnowledgeProvider knowledgeProvider,
IEnumerable <PlanningAction> availableActions,
Goal goal
)
{
// TODO: Ideally, world state should be populated lazily, not in advance, like here.
// Some symbols may not be needed at all to build a plan!
// (also see comments on IPrecondition and IEffect RelevantActions property)
var initialWorldState = new RelevantSymbolsPopulator(availableActions, goal)
.PopulateWorldState(knowledgeProvider);
// TODO: After lazy population is implemented, the following part of the method is the only thing
// that must remain.
try
{
var path = this.pathfinder.FindPath(
ForwardNode.MakeRegularNode(initialWorldState, new ForwardNodeExpander(availableActions)),
ForwardNode.MakeGoalNode(goal)
);
// FIXME: Downcasting to ForwardEdge - may be fixed by adding another generic parameter to IPathfinder.
return(new Plan(from edge in path.Edges select((ForwardEdge)edge).Action, goal));
}
catch (PathNotFoundException e)
{
throw new PlanNotFoundException(this, maxPlanLength, goal, e);
}
}
private static double PathfindingHeuristic(ForwardNode sourceNode, ForwardNode targetNode)
{
DebugUtils.Assert(!sourceNode.IsGoal, "sourceNode must be a regular (non-goal) {1}", typeof(ForwardNode));
DebugUtils.Assert(targetNode.IsGoal, "targetNode must be a goal {0}", typeof(ForwardNode));
// TODO: This heuristic is not particularly effective.
// See if a better heuristic for forward planning can be found.
return(targetNode.Goal.GetDistanceFrom(sourceNode.WorldState));
}
public Plan FormulatePlan(
IKnowledgeProvider knowledgeProvider,
HashSet <PlanningAction> availableActions,
Goal goal
)
{
var timer = new StopwatchExecutionTimer();
var allActions = new HashSet <PlanningAction>();
allActions.UnionWith(availableActions);
allActions.UnionWith(experienceActions.Where(experienceAction =>
availableActions.IsSupersetOf(experienceAction.Actions)));
var initialWorldState = new RelevantSymbolsPopulator(allActions, goal)
.PopulateWorldState(knowledgeProvider);
try
{
var path = pathfinder.FindPath(
ForwardNode.MakeRegularNode(initialWorldState, new ForwardNodeExpander(allActions)),
ForwardNode.MakeGoalNode(goal)
);
if (learning)
{
var beforeLearning = timer.ElapsedSeconds;
Learn(path);
UnityEngine.Debug.Log(
$"Learning time: {timer.ElapsedSeconds-beforeLearning}");
}
return(new Plan(from edge in path.Edges select((ForwardEdge)edge).Action, goal));
}
catch (PathNotFoundException e)
{
throw new PlanNotFoundException(this, maxPlanLength, goal, e);
}
}