// h_add(q) = 0 if holds initially, min a in GA, and infinite otherwise
public static int AddHeuristic(IState initial, IPredicate condition, HashSet <IPredicate> ignorableConditions)
{
if (initial.InState(condition))
{
return(0);
}
// if we have a value for this, return it.
// if (visitedPreds.ContainsKey(condition))
// {
// return visitedPreds[condition];
// }
int minSoFar = 1000;
// Then this is a static condition that can never be true... we should avoid this plan.
if (!CacheMaps.CausalTupleMap.Get(condition.Sign).ContainsKey(condition))
{
return(minSoFar);
}
// find the gorund action that minimizes the heuristic estimate
foreach (var groundAction in CacheMaps.GetCndts(condition))
{
if (groundAction.Height > 0)
{
continue;
}
int thisVal;
// if (visitedOps.ContainsKey(groundAction))
// {
// // thisVal = visitedOps[groundAction];
// }
// else
// {
thisVal = AddHeuristic(initial, groundAction, ignorableConditions);
// }
if (thisVal < minSoFar)
{
minSoFar = thisVal;
}
}
//visitedPreds[condition] = minSoFar;
return(minSoFar);
}
// h_add(q) = 0 if holds initially, min a in GA, and infinite otherwise
public static int AddHeuristic(IState initial, IPredicate condition)
{
if (initial.InState(condition))
{
return(0);
}
// if we have a value for this, return it.
if (visitedPreds.ContainsKey(condition))
{
return(visitedPreds[condition]);
}
int minSoFar = 1000;
// Then this is a static condition that can never be true... we should avoid this plan.
if (!CacheMaps.CausalMap.ContainsKey(condition))
{
return(minSoFar);
}
// find the gorund action that minimizes the heuristic estimate
foreach (var groundAction in CacheMaps.GetCndts(condition))
{
int thisVal;
if (visitedOps.ContainsKey(groundAction))
{
thisVal = visitedOps[groundAction];
}
else
{
thisVal = AddHeuristic(initial, groundAction);
}
if (thisVal < minSoFar)
{
minSoFar = thisVal;
}
}
visitedPreds[condition] = minSoFar;
return(minSoFar);
}
public static int AddHeuristic(IPredicate precondition)
{
if (visitedPreds.Get(precondition.Sign)[precondition] == 0)
{
return(0);
}
var bestSoFar = 1000;
foreach (var cndt in CacheMaps.GetCndts(precondition))
{
if (cndt.Height > 0)
{
continue;
}
var sumo = cndt.Preconditions.Sum(pre => visitedPreds.Get(pre.Sign)[pre]);
if (sumo < bestSoFar)
{
bestSoFar = sumo;
}
}
return(bestSoFar);
}