public PlanSet GetPlan(Goal goal, List<PloobsEngine.IA.Action> Actions)
{
AstarPlanner Planner = new AstarPlanner();
Planner.MaxIteration = int.MaxValue;
Planner.Actions = Actions;
WorldState WorldState = BlackBoard.GetEntry<WorldState>("WorldState");
PlanSet PlanSet = Planner.CreatePlan(
WorldState,
goal
);
return PlanSet;
}
public override PlanSet CreatePlan(WorldState actual, Goal destiny)
{
this.destiny = destiny;
act.Clear();
iter = 0;
PlanSet PlanSet =null;
if (depthSearch(actual) == true)
{
PlanSet = new PlanSet();
foreach (var item in act)
{
PlanSet.Actions.Add(item);
System.Diagnostics.Debug.WriteLine(item.Name);
}
}
return PlanSet;
}
public override PlanSet CreatePlan(WorldState actual, Goal destiny)
{
PlanSet PlanSet = new PlanSet();
WorldState current = actual.Clone();
int iter = 0;
while (!destiny.Evaluate(current))
{
Action act = null;
foreach (var item in Actions)
{
if (item.GetPreConditions(current).isCompatibleSource(current))
{
if (item.ProceduralPreConditions(current))
{
act = item;
break;
}
}
}
if (act != null)
{
foreach (var item in act.GetEffects(current).GetSymbols())
{
current.SetSymbol(item.Clone());
}
act.ApplyEffects(current);
}
else
{
return null;
}
iter++;
if (iter > MaxIteration)
return null;
System.Diagnostics.Debug.WriteLine(act.Name);
}
System.Diagnostics.Debug.WriteLine(destiny.Name);
return PlanSet;
}
public abstract PlanSet CreatePlan(WorldState actual, Goal destiny);
public override PlanSet CreatePlan(WorldState actual, Goal destiny)
{
int iter = 0;
PlanSet PlanSet = new PlanSet();
PriorityQueueB <pathrecnode> processing = new PriorityQueueB <pathrecnode>(new comparer());
List <WorldState> close = new List <WorldState>();
processing.Push(
new pathrecnode()
{
act = new List <Action>(),
WorldState = actual,
f = 0,
g = 0,
h = 0,
}
);
pathrecnode current = null;
while (processing.Count != 0)
{
current = processing.Pop();
if (destiny.Evaluate(current.WorldState) == true)
{
break;
}
if (close.Contains(current.WorldState))
{
continue;
}
else
{
close.Add(current.WorldState);
}
List <Action> acts = new List <Action>();
foreach (var item in Actions)
{
if (item.GetPreConditions(current.WorldState).isCompatibleSource(current.WorldState))
{
if (item.ProceduralPreConditions(current.WorldState))
{
acts.Add(item);
}
}
}
foreach (var item in acts)
{
WorldState ws = current.WorldState.Clone();
foreach (var item2 in item.GetEffects(current.WorldState).GetSymbols())
{
ws.SetSymbol(item2.Clone());
}
item.ApplyEffects(ws);
pathrecnode pathrec = new pathrecnode();
pathrec.WorldState = ws;
pathrec.act = new List <Action>(current.act.ToArray());
pathrec.act.Add(item);
pathrec.g += 1 + item.Cost;
pathrec.h = destiny.GetHeuristic(pathrec.WorldState);
//pathrec.WorldState.GetHeuristic(destiny.WorldState);
pathrec.f = pathrec.g + pathrec.h;
processing.Push(pathrec);
}
iter++;
if (iter > MaxIteration)
{
return(null);
}
Debug(processing, iter);
}
if (current != null)
{
foreach (var item in current.act)
{
PlanSet.Actions.Add(item);
System.Diagnostics.Debug.WriteLine(item.Name);
}
}
return(PlanSet);
}
public abstract PlanSet CreatePlan(WorldState actual, Goal destiny);
public override PlanSet CreatePlan(WorldState actual, Goal destiny)
{
PlanSet PlanSet = new PlanSet();
LinkedList<pathrec> processing = new LinkedList<pathrec>();
processing.AddLast(
new pathrec()
{
act = new List<Action>(),
WorldState = actual
}
);
int iter = 0;
pathrec current = null;
while (processing.Count != 0)
{
current = processing.First.Value;
processing.RemoveFirst();
if (destiny.Evaluate(current.WorldState) == true)
break;
List<Action> acts = new List<Action>();
foreach (var item in Actions)
{
if (item.GetPreConditions(current.WorldState).isCompatibleSource(current.WorldState))
{
if (item.ProceduralPreConditions(current.WorldState))
{
acts.Add(item);
}
}
}
foreach (var item in acts)
{
WorldState ws = current.WorldState.Clone();
foreach (var item2 in item.GetEffects(current.WorldState).GetSymbols())
{
ws.SetSymbol(item2.Clone());
}
item.ApplyEffects(ws);
System.Diagnostics.Debug.WriteLine(item.Name);
pathrec pathrec = new pathrec();
pathrec.WorldState = ws;
pathrec.act = new List<Action>(current.act.ToArray());
pathrec.act.Add(item);
processing.AddLast(pathrec);
}
System.Diagnostics.Debug.WriteLine("---START");
foreach (var item in processing)
{
System.Diagnostics.Debug.WriteLine("-<>-");
foreach (var item2 in item.act)
{
System.Diagnostics.Debug.WriteLine(item2.Name);
}
}
System.Diagnostics.Debug.WriteLine("---END");
iter++;
if (iter > MaxIteration)
return null;
}
if (current != null)
{
foreach (var item in current.act)
{
PlanSet.Actions.Add(item);
System.Diagnostics.Debug.WriteLine(item.Name);
}
}
return PlanSet;
}
