public void CacheLeaves(Goal goal, Dictionary <string, float> worldStates, List <Action> actions, Dictionary <string, float> agentStates, bool simulate)
{
var planner = new Planner();
var leaves = planner.BuildLeaves(goal.Key, worldStates, actions, agentStates, out var success, simulate);
if (leaves != null)
{
_goalLeaves[goal] = new List <Node>(leaves);
}
}
public void CachePlan(List <Goal> goals, List <Action> actions, Agent agent)
{
_goalActions.Clear();
_goalLeaves.Clear();
_goalErrors.Clear();
foreach (var goal in goals.OrderByDescending(x => x.Priority))
{
var agentStates = new Dictionary <string, float>();
var worldStates = new Dictionary <string, float>(WorldStates);
if (worldStates.ContainsKey(goal.Key))
{
worldStates.Remove(goal.Key);
}
foreach (var worldState in worldStates.Reverse())
{
if (WorldStatesVisibility[worldState.Key] == false)
{
worldStates.Remove(worldState.Key);
}
}
var planner = new Planner();
var queuedActions = planner.Plan(agent, goal.Key, worldStates, actions, agentStates, _simulate);
if (planner.ErrorRecords.ContainsKey(goal.Key))
{
_goalErrors[goal] = planner.ErrorRecords[goal.Key];
}
if (queuedActions != null)
{
_goalActions[goal] = new Queue <Action>(queuedActions);
}
planner = new Planner();
var leaves = planner.BuildLeaves(goal.Key, worldStates, actions, agentStates, out var success, _simulate);
if (leaves != null)
{
_goalLeaves[goal] = new List <Node>(leaves);
}
}
}
