public INode <T> Run(INode <T> start, T goal, int maxIterations = 100, bool earlyExit = true, bool clearNodes = true, bool debugPlan = false)
{
this.debugPlan = debugPlan;
frontier.Clear();
stateToNode.Clear();
explored.Clear();
if (clearNodes)
{
ClearNodes();
createdNodes.Add(start);
}
frontier.Enqueue(start, start.GetCost());
DebugPlan(start, null);
var iterations = 0;
while ((frontier.Count > 0) && (iterations < maxIterations) && (frontier.Count + 1 < frontier.MaxSize))
{
var node = frontier.Dequeue();
if (node.IsGoal(goal))
{
ReGoapLogger.Log("[Astar] Success iterations: " + iterations);
EndDebugPlan(node);
return(node);
}
explored[node.GetState()] = node;
foreach (var child in node.Expand())
{
iterations++;
if (clearNodes)
{
createdNodes.Add(child);
}
if (earlyExit && child.IsGoal(goal))
{
ReGoapLogger.Log("[Astar] (early exit) Success iterations: " + iterations);
EndDebugPlan(child);
return(child);
}
var childCost = child.GetCost();
var state = child.GetState();
if (explored.ContainsKey(state))
{
continue;
}
INode <T> similiarNode;
stateToNode.TryGetValue(state, out similiarNode);
if (similiarNode != null)
{
if (similiarNode.GetCost() > childCost)
{
frontier.Remove(similiarNode);
}
else
{
break;
}
}
DebugPlan(child, node);
//Utilities.ReGoapLogger.Log(string.Format(" Enqueue frontier: {0}, cost: {1}", child.Name, childCost));
frontier.Enqueue(child, childCost);
stateToNode[state] = child;
}
}
ReGoapLogger.LogWarning("[Astar] failed.");
EndDebugPlan(null);
return(null);
}
public INode <T> Run(INode <T> start, T goal, int maxIterations = 100, bool earlyExit = true, bool clearNodes = true, bool debugPlan = false)
{
_debugPlan = debugPlan;
frontier.Clear();
stateToNode.Clear();
explored.Clear();
if (clearNodes)
{
ClearNodes();
createdNodes.Add(start);
}
frontier.Enqueue(start, start.GetCost());
_DebugPlan(start, null);
var iterations = 0;
while ((frontier.Count > 0) && (iterations < maxIterations) && (frontier.Count + 1 < frontier.MaxSize))
{
var node = frontier.Dequeue();
Utilities.ReGoapLogger.Log(string.Format("\n++++Explored action: {0}({3}), state ({1})\n goal ({2})\n effect: ({4})", node.Name, node.GetState(), node.GoalString, node.GetCost(), node.EffectString));
if (node.IsGoal(goal))
{
ReGoapLogger.Log("[Astar] Success iterations: " + iterations);
_EndDebugPlan(node);
return(node);
}
explored[node.GetState()] = node;
foreach (var child in node.Expand())
{
iterations++;
if (clearNodes)
{
createdNodes.Add(child);
}
if (earlyExit && child.IsGoal(goal))
{
ReGoapLogger.Log("[Astar] (early exit) Success iterations: " + iterations);
_EndDebugPlan(child);
return(child);
}
var childCost = child.GetCost();
var state = child.GetState();
if (explored.ContainsKey(state))
{
continue;
}
INode <T> similiarNode;
stateToNode.TryGetValue(state, out similiarNode);
if (similiarNode != null)
{
if (similiarNode.GetCost() > childCost)
{
frontier.Remove(similiarNode);
}
else
{
break;
}
}
_DebugPlan(child, node);
Utilities.ReGoapLogger.Log(string.Format(" Enqueue frontier: {0}, cost: {1}", child.Name, childCost));
frontier.Enqueue(child, childCost);
stateToNode[state] = child;
}
}
string failReason =
(frontier.Count <= 0 ? "Depleted Search Space. " : "") +
((iterations >= maxIterations) ? "Too many iter: " + iterations : "") +
(frontier.Count + 1 >= frontier.MaxSize ? "FrontierQueue too large: " + frontier.MaxSize : "");
ReGoapLogger.LogWarning("[Astar] failed. " + failReason);
_EndDebugPlan(null);
return(null);
}
public INode <T> Run(INode <T> start, T goal, int maxIterations = 100, bool earlyExit = true, bool clearNodes = true)
{
frontier.Clear();
stateToNode.Clear();
explored.Clear();
if (clearNodes)
{
ClearNodes();
createdNodes.Add(start);
}
frontier.Enqueue(start, start.GetCost());
var iterations = 0;
while ((frontier.Count > 0) && (iterations < maxIterations) && (frontier.Count + 1 < frontier.MaxSize))
{
var node = frontier.Dequeue();
if (node.IsGoal(goal))
{
return(node);
}
explored[node.GetState()] = node;
foreach (var child in node.Expand())
{
iterations++;
if (clearNodes)
{
createdNodes.Add(child);
}
if (earlyExit && child.IsGoal(goal))
{
return(child);
}
var childCost = child.GetCost();
var state = child.GetState();
if (explored.ContainsKey(state))
{
continue;
}
INode <T> similiarNode;
stateToNode.TryGetValue(state, out similiarNode);
if (similiarNode != null)
{
if (similiarNode.GetCost() > childCost)
{
frontier.Remove(similiarNode);
}
else
{
break;
}
}
frontier.Enqueue(child, childCost);
stateToNode[state] = child;
}
}
return(null);
}