public List <IPlan> Search(IPlanner IP, int k, float cutoff)
{
var Solutions = new List <IPlan>();
var watch = System.Diagnostics.Stopwatch.StartNew();
while (Frontier.Count > 0)
{
var plan = Frontier.Dequeue();
IP.Expanded++;
var flaw = plan.Flaws.Next();
Console.WriteLine(plan.Decomps);
if (IP.Console_log)
{
Console.WriteLine(plan.ToStringOrdered());
Console.WriteLine(flaw);
}
// Termination criteria
if (flaw == null)
{
watch.Stop();
var elapsedMs = watch.ElapsedMilliseconds;
Solutions.Add(plan);
if (Solutions.Count >= k)
{
IP.WriteToFile(elapsedMs, plan as Plan);
return(Solutions);
}
continue;
}
if (watch.ElapsedMilliseconds > cutoff)
{
watch.Stop();
IP.WriteToFile(watch.ElapsedMilliseconds, plan as Plan);
return(null);
}
var frontierCount = Frontier.Count;
if (flaw.Ftype == Enums.FlawType.Link)
{
IP.RepairThreat(plan, flaw as ThreatenedLinkFlaw);
}
else if (flaw.Ftype == Enums.FlawType.Condition)
{
IP.AddStep(plan, flaw as OpenCondition);
IP.Reuse(plan, flaw as OpenCondition);
}
}
return(null);
}
public static List <Node> GetPath(Node start, Node end)
{
List <Node> path = new List <Node>();
Frontier <Node> frontier = new Frontier <Node>();
// hashing
Dictionary <Node, Node> cameFrom = new Dictionary <Node, Node>();
// Dijkstra
Dictionary <Node, int> costSoFar = new Dictionary <Node, int>();
frontier.Enqueue(start, 0);
cameFrom[start] = null;
costSoFar[start] = 0;
while (!frontier.IsEmpty)
{
Node currentNode = frontier.Dequeue();
if (currentNode == end)
{
break;
}
foreach (Node neighbour in currentNode.Neighbours)
{
int newCost = costSoFar[currentNode] + neighbour.Cost;
if (!costSoFar.ContainsKey(neighbour) || newCost < costSoFar[neighbour])
{
costSoFar[neighbour] = newCost;
int priority = newCost;
frontier.Enqueue(neighbour, priority);
// for each neighbour, store its parent
cameFrom[neighbour] = currentNode;
}
}
}
// build the list of node to traverse
Node currentStep = end;
while (currentStep != start && currentStep != null)
{
if (!cameFrom.ContainsKey(currentStep))
{
return(null);
}
path.Add(currentStep);
currentStep = cameFrom[currentStep];
}
//path.Add(start);
path.Reverse();
return(path);
}
public List <IPlan> Search(IPlanner IP, int k, float cutoff)
{
var watch = System.Diagnostics.Stopwatch.StartNew();
var Solutions = new List <IPlan>();
while (Frontier.Count > 0)
{
var plan = Frontier.Dequeue();
IP.Expanded++;
if (IP.Console_log)
{
Console.WriteLine(plan);
}
if (plan.CurrentState.Satisfies(plan.Goal.Predicates))
{
// Termination criteria
watch.Stop();
var elapsedMs = watch.ElapsedMilliseconds;
Solutions.Add(plan);
if (Solutions.Count >= k)
{
Console.WriteLine(IP.Open.ToString() + ", " + IP.Expanded.ToString());
return(Solutions);
}
continue;
}
if (watch.ElapsedMilliseconds > cutoff)
{
watch.Stop();
Console.WriteLine(IP.Open.ToString() + ", " + IP.Expanded.ToString());
return(null);
}
IP.AddStep(plan);
}
return(null);
}
public List <IPlan> Search(IPlanner IP, int k, float cutoff)
{
var Solutions = new List <IPlan>();
var watch = System.Diagnostics.Stopwatch.StartNew();
while (Frontier.Count > 0)
{
var plan = Frontier.Dequeue();
//if (plan.ID.Equals("135a7a13a25a51ri65ri87a189a585a1277a2965a10239d15043a44047r62295ri"))
//if (plan.ID.Equals("1313a61a76405a") || plan.ID.Equals("1313a61a76407a")
// || plan.ID.Equals("1313a61a76409a")
// || plan.ID.Equals("1313a61a76411a")
// || plan.ID.Equals("1313a61a76413a")
// || plan.ID.Equals("1313a61a76415a"))//39709a"))
//{
// Console.WriteLine("Here");
//}
if (plan.ID.Equals("016a"))
{
Console.WriteLine("Here");
}
IP.Expanded++;
var flaw = plan.Flaws.Next();
Console.WriteLine(plan.Decomps);
if (IP.Console_log)
{
//Console.WriteLine(plan.ToStringOrdered());
//Console.WriteLine(plan.ToStringOrdered());
//Console.WriteLine(flaw);
}
// Termination criteria
if (flaw == null)
{
if (onlyStopOnDepth)
{
if (plan.Hdepth == 0)
{
continue;
}
}
watch.Stop();
var elapsedMs = watch.ElapsedMilliseconds;
Solutions.Add(plan);
if (Solutions.Count >= k)
{
IP.WriteToFile(elapsedMs, plan as Plan);
IP.WriteTimesToFile();
return(Solutions);
}
continue;
}
if (watch.ElapsedMilliseconds > cutoff)
{
watch.Stop();
IP.WriteToFile(watch.ElapsedMilliseconds, plan as Plan);
IP.WriteTimesToFile();
return(null);
}
var frontierCount = Frontier.Count;
if (flaw.Ftype == Enums.FlawType.Link)
{
IP.RepairThreat(plan, flaw as ThreatenedLinkFlaw);
}
else if (flaw.Ftype == Enums.FlawType.Condition)
{
var beforeAddStep = watch.ElapsedMilliseconds;
IP.AddStep(plan, flaw as OpenCondition);
IP.LogTime("addStep", watch.ElapsedMilliseconds - beforeAddStep);
var beforeReuseStep = watch.ElapsedMilliseconds;
IP.Reuse(plan, flaw as OpenCondition);
IP.LogTime("reuseStep", watch.ElapsedMilliseconds - beforeReuseStep);
}
}
return(null);
}