public override Queue <Location> ExtractPlan(Subject s, Intention i, Beliefs b, List <Location> path)
{
Queue <Location> plan = new Queue <Location>();
Location dest = new Location();
HashSet <Location> fov = FOV.GetFov(b.Agents[i.ID].Direction, b.Agents[i.ID].Location);
if (fov.Except(FOV.GetSharedFov(s, b.Agents[i.ID])).Count() > 0)
{
dest = Util.RandomElement(fov.Except(FOV.GetSharedFov(s, b.Agents[i.ID])).ToList(), s.Location);
}
else
{
dest = Util.RandomElement(fov.ToList(), s.Location);
}
FlankNode fNode = new FlankNode(null, dest, b.Agents[i.ID].Location)
{
CurLocation = new Location(s.Location),
Obstacles = new HashSet <Location>(b.Obstacles.Keys)
};
fNode.Obstacles.UnionWith(Util.GetDynamicObstacles(s.ID, s.Location, b));
plan = Planner.Search(fNode);
return(plan);
}
public override Node ChildNode(Location loc)
{
FlankNode n = new FlankNode(this, dest, avoid)
{
CurLocation = loc,
Obstacles = Obstacles
};
return(n);
}
public override Queue <Location> ExtractPlan(Subject s, Intention i, Beliefs b, List <Location> path)
{
Queue <Location> plan = new Queue <Location>();
FlankNode fNode = new FlankNode(null, b.Agents['0'].Location, b.Agents[i.ID].Location)
{
CurLocation = new Location(s.Location),
Obstacles = new HashSet <Location>(b.Obstacles.Keys)
};
fNode.Obstacles.UnionWith(Util.GetDynamicObstacles(s.ID, s.Location, b));
plan = Planner.Search(fNode);
return(plan);
}
public override bool Equals(object obj)
{
if (ReferenceEquals(null, obj))
{
return(false);
}
if (ReferenceEquals(this, obj))
{
return(true);
}
if (obj.GetType() != this.GetType())
{
return(false);
}
FlankNode other = (FlankNode)obj;
return(!System.Object.ReferenceEquals(null, CurLocation) &&
CurLocation.Equals(other.CurLocation));
}
public FlankNode(FlankNode parent, Location dest, Location avoid) : base(parent, dest)
{
G = (parent == null) ? 0 : (parent.G + 1);
this.avoid = avoid;
this.dest = dest;
}
