public PlanData(TStateManager stateManager, int stateCapacity = 1, int actionCapacity = 1, int transitionCapacity = 1)
{
m_StateManager = stateManager;
StateDepthLookup = new NativeHashMap <TStateKey, int>(stateCapacity, Allocator.Persistent);
BinnedStateKeyLookup = new NativeMultiHashMap <int, TStateKey>(stateCapacity, Allocator.Persistent);
PlanGraph = new PlanGraph <TStateKey, StateInfo, TActionKey, ActionInfo, StateTransitionInfo>(stateCapacity, actionCapacity, transitionCapacity);
}
public static void GetExpandedDepthMap <TStateKey, TStateInfo, TActionKey, TActionInfo, TStateTransitionInfo>(this PlanGraph <TStateKey, TStateInfo, TActionKey, TActionInfo, TStateTransitionInfo> planGraph, TStateKey rootKey, NativeHashMap <TStateKey, int> depthMap, NativeQueue <StateHorizonPair <TStateKey> > queue)
where TStateKey : struct, IEquatable <TStateKey>
where TStateInfo : struct, IStateInfo
where TActionKey : struct, IEquatable <TActionKey>
where TActionInfo : struct, IActionInfo
where TStateTransitionInfo : struct
{
depthMap.Clear();
queue.Clear();
var actionLookup = planGraph.ActionLookup;
var resultingStateLookup = planGraph.ResultingStateLookup;
depthMap.TryAdd(rootKey, 0);
queue.Enqueue(new StateHorizonPair <TStateKey> {
StateKey = rootKey, Horizon = 0
});
while (queue.TryDequeue(out var stateHorizonPair))
{
var stateKey = stateHorizonPair.StateKey;
var horizon = stateHorizonPair.Horizon;
var nextHorizon = horizon + 1;
if (actionLookup.TryGetFirstValue(stateKey, out var actionKey, out var iterator))
{
do
{
var stateActionPair = new StateActionPair <TStateKey, TActionKey>(stateKey, actionKey);
if (resultingStateLookup.TryGetFirstValue(stateActionPair, out var resultingStateKey, out var resultIterator))
{
do
{
// Skip unexpanded states
if (!actionLookup.TryGetFirstValue(resultingStateKey, out _, out _))
{
continue;
}
// first add will be most shallow due to BFS
if (depthMap.TryAdd(resultingStateKey, nextHorizon))
{
queue.Enqueue(new StateHorizonPair <TStateKey>()
{
StateKey = resultingStateKey, Horizon = nextHorizon
});
}
} while (resultingStateLookup.TryGetNextValue(out resultingStateKey, ref resultIterator));
}
} while (actionLookup.TryGetNextValue(out actionKey, ref iterator));
}
}
}
public static void LogStructuralInfo <TStateKey, TStateInfo, TActionKey, TActionInfo, TStateTransitionInfo>(this PlanGraph <TStateKey, TStateInfo, TActionKey, TActionInfo, TStateTransitionInfo> planGraph)
where TStateKey : struct, IEquatable <TStateKey>, IComparable <TStateKey>
where TStateInfo : struct, IStateInfo
where TActionKey : struct, IEquatable <TActionKey>
where TActionInfo : struct, IActionInfo
where TStateTransitionInfo : struct
{
Debug.Log($"States: {planGraph.StateInfoLookup.Count()}");
var(predecessorKeyArray, uniquePredecessorCount) = planGraph.PredecessorGraph.GetUniqueKeyArray(Allocator.TempJob);
Debug.Log($"States with Predecessors: {uniquePredecessorCount}");
predecessorKeyArray.Dispose();
var(stateActionKeyArray, uniqueStateActionCount) = planGraph.ActionLookup.GetUniqueKeyArray(Allocator.TempJob);
Debug.Log($"States with Successors: {uniqueStateActionCount}");
stateActionKeyArray.Dispose();
Debug.Log($"Actions: {planGraph.ActionInfoLookup.Count()}");
Debug.Log($"Action Results: {planGraph.StateTransitionInfoLookup.Count()}");
}
