/// <summary>
/// Create a complexgoal
/// </summary>
/// <returns>A complexgoal</returns>
public override ComplexGoal CreateGoal()
{
var complexGoal = new ComplexGoal();
complexGoal.Goals.Add(new SimpleGoal(new Fact(Definitions.In, new ValueParameter(X), new ValueParameter(Y))));
return(complexGoal);
}
public void Setup()
{
_desire = new Mock <ADesire>();
_desire.Setup(x => x.CreateGoal()).Returns(_goal);
var intent = new Intention <AnAction, AnAgent, AnEnvironment>(_desire.Object);
_result = intent.CreateGoal();
}
private ComplexGoal CreateComplexGoalForIntentions()
{
var complexGoal = new ComplexGoal();
foreach (var intent in CurrentIntentions)
{
complexGoal.Goals.AddRange(intent.CreateGoal().Goals);
}
return(complexGoal);
}
/// <summary>
/// Creation of a plan for the current intention
/// </summary>
/// <returns>A STRIPS plan which can be executed</returns>
protected virtual Plan <TAction> MakePlan()
{
var itemsToProcess = new Stack <IStackItem>();
var complexGoal = new ComplexGoal();
foreach (var intent in CurrentIntentions)
{
complexGoal.Goals.AddRange(intent.CreateGoal().Goals);
}
itemsToProcess.Push(complexGoal);
var currentBeliefs = ExtractFactsFromBeliefBase();
var tuple = Planner.CreatePlan <TAction>(itemsToProcess, currentBeliefs, new List <Fact>(), new List <State>(), Actions);
return(tuple.Item1);
}
/// <summary>
/// From a desire, we create a complex goal
/// </summary>
/// <returns>A complex goal to be used in STRIPS</returns>
public override ComplexGoal CreateGoal()
{
var complexGoal = new ComplexGoal();
var stacks = Target.GetStacks();
foreach (var stack in stacks)
{
stack.Reverse();
foreach (var block in stack)
{
if (block == stack.First())
{
complexGoal.Goals.Add(new SimpleGoal(new Fact(Definitions.Clear, new ValueParameter(block))));
}
complexGoal.Goals.Add(new SimpleGoal(new STRIPS.Fact(Definitions.On, new ValueParameter(block), new ValueParameter(block.Lower))));
}
}
return(complexGoal);
}
