private bool depthSearch(WorldState WorldState)
{
if (destiny.Evaluate(WorldState) == true)
{
return(true);
}
List <Action> acts = new List <Action>();
foreach (var item in Actions)
{
if (item.GetPreConditions(WorldState).isCompatibleSource(WorldState))
{
if (item.ProceduralPreConditions(WorldState))
{
acts.Add(item);
}
}
}
if (acts.Count == 0)
{
return(false);
}
foreach (var item in acts)
{
WorldState ws = WorldState.Clone();
foreach (var item2 in item.GetEffects(WorldState).GetSymbols())
{
ws.SetSymbol(item2.Clone());
}
item.ApplyEffects(ws);
iter++;
if (iter > MaxIteration)
{
return(false);
}
if (depthSearch(ws) == true)
{
act.AddFirst(item);
return(true);
}
}
return(false);
}
public override PlanSet CreatePlan(WorldState actual, Goal destiny)
{
PlanSet PlanSet = new PlanSet();
WorldState current = actual.Clone();
int iter = 0;
while (!destiny.Evaluate(current))
{
Action act = null;
foreach (var item in Actions)
{
if (item.GetPreConditions(current).isCompatibleSource(current))
{
if (item.ProceduralPreConditions(current))
{
act = item;
break;
}
}
}
if (act != null)
{
foreach (var item in act.GetEffects(current).GetSymbols())
{
current.SetSymbol(item.Clone());
}
act.ApplyEffects(current);
}
else
{
return(null);
}
iter++;
if (iter > MaxIteration)
{
return(null);
}
System.Diagnostics.Debug.WriteLine(act.Name);
}
System.Diagnostics.Debug.WriteLine(destiny.Name);
return(PlanSet);
}
