private void doOneStep(bool quiet = false)
{
steps++;
Plan plan = new Plan(dom, ev);
TreeNode node = root.selectSuccesor(plan);
plan.currentState = node.position.clone();
plan.runSimulation(simulationPolicy, maxSimulationLength);
int value = plan.eval();
simulationPolicy.updateStats(plan);
if (bestValue > value)
{
bestValue = value;
bestPlan = plan;
if (dom.isGoalState(plan.currentState))
{
printMessage("Solution plan found. Plan cost: " + plan.actionCosts, quiet);
}
printMessage("Best: " + bestValue + "\tSteps taken: " + steps + "\tTree size: " +
(root.subtreeSize + 1) + "\tMax depth: " + (root.subtreeDepth + 1), quiet);
stepsWithoutImprovement = 0;
}
if (value > worstValue)
{
worstValue = value;
}
node.update(10000 - value);
if (node.nVisited > TreeNode.visitedBeforeExpansion)
{
node.expand();
}
stepsWithoutImprovement++;
}
public override void updateStats(Plan simulation)
{
foreach (var item in simulation.actions)
{
simResultSum[item] = simResultSum[item] + simulation.eval();
simulationsCount[item] = simulationsCount[item] + 1;
}
}