void GenerateNextLevelStates()
{
PrevStates.Clear();
PrevStates.Union(CurrStates);
foreach (PlanAction act in ExecutableActions)
{
// do execute the action
CurrStates = mProbDef.ExecuteAction(CurrStates, act, false, true);
}
//NewPreds.Clear();
//NewPreds.Union(CurrStates);
//NewPreds.IntersectWith(PrevStates);
// now for the added predicates compute mutexes between themselves and previous predicates
// but first, compute action mutexes. these are between executable actions and previousely
// executed actions.
//TODO:Think about prevactionlayer
GenerateActionMutexes();
GenerateStateMutexes();
NumLevelsExpanded++;
}
public void GenerateGraph(PredicateList startState)
{
Reset();
CurrStates.Union(startState);
CheckGoal();
while (SearchState == GraphSearchState.ContinueSearch)
{
GenerateNextLevelStates();
CheckGoal();
}
}