public static void ComposeHTNs(int hMax, Dictionary <Composite, List <Decomposition> > Methods)
{
// for each height to ground a composite operator
for (int h = 0; h < hMax; h++)
{
// For each (composite operator, method) pair
foreach (var compositepair in Methods)
{
// Create a new list of composites that will be assembled in this iteration
var compList = new List <Composite>();
// for each legal decomposition of this composite operator
foreach (var decomp in compositepair.Value)
{
// Create a list of ground decompositions
var groundDecomps = decomp.Compose(h);
// for each ground decomposition
foreach (var gdecomp in groundDecomps)
{
// clone composite task
var comp = compositepair.Key.PseudoClone();
comp.Name = decomp.Name;
// Set height of composite step
comp.Height = h + 1;
// Assign method to composite step
var numUnBound = comp.ApplyDecomposition(gdecomp);
// If all terms are bound, then add as is.
if (numUnBound == 0)
{
compList.Add(comp);
}
// Otherwise, bind the remaining unbound terms
else if (numUnBound > 0)
{
// Remove unbound args
comp.RemoveRemainingArgs();
compList.Add(comp);
}
}
}
// For each newly created composite step, add to the library.
foreach (var comp in compList)
{
comp.GoalStep.OpenConditions = comp.GoalStep.Preconditions;
GroundActionFactory.InsertOperator(comp as IOperator);
}
}
}
}
public static void ComposeHTNs(int hMax, Tuple <Composite, List <Decomposition> > Methods)
{
for (int h = 0; h < hMax; h++)
{
var compList = new List <Composite>();
foreach (var decomp in Methods.Second)
{
var groundDecomps = decomp.Compose(h);
foreach (var gdecomp in groundDecomps)
{
// clone composite task
var comp = Methods.First.PseudoClone();
// Set height of composite step
comp.Height = h + 1;
// Assign method to composite step
var numUnBound = comp.ApplyDecomposition(gdecomp);
// If all terms are bound, then add as is.
if (numUnBound == 0)
{
compList.Add(comp);
}
// Otherwise, bind the remaining unbound terms
else
{
// NEW METHOD: Remove unbound args
comp.RemoveRemainingArgs();
compList.Add(comp);
// OLD METHOD: There could be more than one way to bind remaining terms
//var boundComps = comp.GroundRemainingArgs(numUnBound);
//foreach (var bc in boundComps)
//{
// // Add each possible way to bind remaining terms
// compList.Add(bc);
//}
}
}
}
// For each newly created composite step, add to the library.
foreach (var comp in compList)
{
GroundActionFactory.InsertOperator(comp as IOperator);
}
}
}