public static void TestBenchmarks()
{
var domainNames = new List <string>()
{
"arth", "batman"
};
foreach (var dn in domainNames)
{
var testDomainDirectory = Parser.GetTopDirectory() + @"Benchmarks\" + dn + @"\domain.pddl";
var testDomain = Parser.GetDomain(Parser.GetTopDirectory() + @"Benchmarks\" + dn + @"\domain.pddl", PlanType.PlanSpace);
var testProblem = Parser.GetProblem(Parser.GetTopDirectory() + @"Benchmarks\" + dn + @"\prob01.pddl");
ProblemFreezer PF = new ProblemFreezer(dn, testDomainDirectory, testDomain, testProblem);
PF.Serialize();
var directory = @"D:\Documents\Frostbow\Benchmarks\Results\";
var cutoff = 6000f;
var k = 1;
var initPlan = PlanSpacePlanner.CreateInitialPlan(PF);
RunPlanner(initPlan.Clone() as IPlan, new ADstar(), new E0(new AddReuseHeuristic()), k, cutoff, directory, 0);
RunPlanner(initPlan.Clone() as IPlan, new ADstar(), new E1(new AddReuseHeuristic()), k, cutoff, directory, 0);
RunPlanner(initPlan.Clone() as IPlan, new ADstar(), new E2(new AddReuseHeuristic()), k, cutoff, directory, 0);
RunPlanner(initPlan.Clone() as IPlan, new ADstar(), new E3(new AddReuseHeuristic()), k, cutoff, directory, 0);
//RunPlanner(initPlan.Clone() as IPlan, new DFS(), new Nada(new ZeroHeuristic()), k, cutoff, directory, 0);
RunPlanner(initPlan.Clone() as IPlan, new BFS(), new Nada(new ZeroHeuristic()), k, cutoff, directory, 0);
}
}
public static void RunProblem(string directory, string domainName, string domainDirectory, Domain domain, Problem problem, float cutoff, int HTN_level, Dictionary <Composite, List <Decomposition> > CompositeMethods)
{
// Reset Cached Items
GroundActionFactory.Reset();
CacheMaps.Reset();
var PF = new ProblemFreezer(domainName, domainDirectory, domain, problem);
PF.Serialize();
Console.WriteLine("Detecting Statics");
GroundActionFactory.DetectStatics();
var initPlan = PlanSpacePlanner.CreateInitialPlan(PF);
// Removing irrelevant actions
Console.WriteLine("Removing Irrelevant Actions");
var staticInitial = initPlan.Initial.Predicates.Where(state => GroundActionFactory.Statics.Contains(state));
// Every action that has No preconditions which are both static and not in staticInitial
var possibleActions = GroundActionFactory.GroundActions.Where(action => !action.Preconditions.Any(pre => GroundActionFactory.Statics.Contains(pre) && !staticInitial.Contains(pre)));
GroundActionFactory.GroundActions = possibleActions.ToList();
GroundActionFactory.GroundLibrary = possibleActions.ToDictionary(item => item.ID, item => item);
// Composing HTNs
Console.WriteLine("Composing HTNs");
Composite.ComposeHTNs(HTN_level, CompositeMethods);
// Caching Causal Maps
Console.WriteLine("Caching Causal Maps");
CacheMaps.Reset();
CacheMaps.CacheLinks(GroundActionFactory.GroundActions);
CacheMaps.CacheGoalLinks(GroundActionFactory.GroundActions, initPlan.Goal.Predicates);
// Cache Heuristic Costs (dynamic programming)
Console.WriteLine("Caching Heuristic Costs");
CacheMaps.CacheAddReuseHeuristic(initPlan.Initial);
// Redo to gaurantee accuracy (needs refactoring)
initPlan = PlanSpacePlanner.CreateInitialPlan(PF);
var probNum = Int32.Parse(problem.Name);
Console.WriteLine(String.Format("Running Problem {0}", probNum));
RunPlanner(initPlan.Clone() as IPlan, new ADstar(false), new E0(new AddReuseHeuristic(), true), cutoff, directory, probNum);
//RunPlanner(initPlan.Clone() as IPlan, new ADstar(true), new E0(new AddReuseHeuristic()), cutoff, directory, probNum);
//RunPlanner(initPlan.Clone() as IPlan, new ADstar(true), new E1(new AddReuseHeuristic()), cutoff, directory, probNum);
//RunPlanner(initPlan.Clone() as IPlan, new ADstar(true), new E2(new AddReuseHeuristic()), cutoff, directory, probNum);
//RunPlanner(initPlan.Clone() as IPlan, new ADstar(true), new E3(new AddReuseHeuristic()), cutoff, directory, probNum);
//RunPlanner(initPlan.Clone() as IPlan, new BFS(false), new Nada(new ZeroHeuristic()), cutoff, directory, probNum);
// RunPlanner(initPlan.Clone() as IPlan, new BFS(true), new Nada(new ZeroHeuristic()), cutoff, directory, probNum);
}
public static ProblemFreezer ReadDomainAndProblem(bool serializeIt, int whichProblem)
{
var domainName = "blocks";
var domainDirectory = Parser.GetTopDirectory() + @"Benchmarks\" + domainName + @"\domain.pddl";
var domain = Parser.GetDomain(Parser.GetTopDirectory() + @"Benchmarks\" + domainName + @"\domain.pddl", PlanType.PlanSpace);
var problem = Parser.GetProblem(Parser.GetTopDirectory() + @"Benchmarks\" + domainName + @"\prob0" + whichProblem.ToString() + @".pddl");
var PF = new ProblemFreezer(domainName, domainDirectory, domain, problem);
if (serializeIt)
{
PF.Serialize();
}
else
{
PF.Deserialize();
}
return(PF);
}