public static List <string> ManualSolve(Problem p, Domain d)
{
List <string> lPlan = new List <string>();
State sStart = new State(p);
foreach (GroundedPredicate gp in p.Known)
{
sStart.AddPredicate(gp);
}
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 = new List <Action>(d.GroundAllActions(sCurrent.Predicates, false));
Console.WriteLine("Available actions:");
for (int i = 0; i < lActions.Count; i++)
{
Console.WriteLine(i + ") " + lActions[i].Name);
}
Console.Write("Choose action number: ");
int iAction = int.Parse(Console.ReadLine());
Action a = lActions[iAction];
sNext = sCurrent.Apply(a);
lPlan.Add(a.Name);
foreach (Predicate pNew in sNext.Predicates)
{
if (!sCurrent.Predicates.Contains(pNew))
{
Console.WriteLine(pNew);
}
}
if (!dParents.Keys.Contains(sNext))
{
dParents[sNext] = sCurrent;
dMapStateToGeneratingAction[sNext] = a;
}
sCurrent = sNext;
cProcessed++;
}
return(lPlan);
//return GeneratePlan(sCurrent, null, dParents, dMapStateToGeneratingAction);
}
public static bool VerifyPlan(Domain dJoint, Problem pJoint, List <string> lPlan)
{
List <State> lStates = new List <State>();
State sInitial = new State(pJoint);
foreach (Predicate p in pJoint.Known)
{
sInitial.AddPredicate(p);
}
State sCurrent = sInitial;
int i = 0;
foreach (string sAction in lPlan)
{
State sNew = sCurrent.Apply(sAction);
if (sNew == null)
{
return(false);
}
lStates.Add(sNew);
sCurrent = sNew;
i++;
}
CompoundFormula joinGoal = new CompoundFormula("and");
foreach (GroundedPredicate gGp in pJoint.Goal.GetAllPredicates())
{
if (!gGp.Name.Equals("and"))
{
joinGoal.AddOperand(gGp);
}
}
pJoint.Goal = joinGoal;
if (pJoint.IsGoalState(sCurrent))
{
PlanCost = lPlan.Count;
return(true);
}
return(false);
}
