public virtual void AddChild(Node n, int index)
{
Children.Insert(index, n);
}
public void RemoveChild(Node n)
{
Children.Remove(n);
}
public virtual void AddChild(Node n)
{
Children.Add(n);
}
/// <summary>
/// Randomly add this node to success or failure trees
/// </summary>
/// <param name="n"></param>
/// <param name="index"></param>
public override void AddChild(Node n, int index)
{
AddChild(n);
}
/// <summary>
/// Randomly add this node to success or failure trees
/// </summary>
/// <param name="n"></param>
/// <param name="index"></param>
public override void AddChild(Node n)
{
if (new Random((int)DateTime.Now.Ticks % Int32.MaxValue).Next(100) > 50)
{
if (Success == null)
Success = n;
else
Success.AddChild(n);
}
else
{
if (Failure == null)
Failure = n;
else
Failure.AddChild(n);
}
}
public Chromosome(Node Genome)
{
this.Genome = Genome;
Random = new Random((int)(DateTime.Now.Ticks % Int32.MaxValue));
}
/// <summary>
/// Recursive enumeration of actions using conditions considering current state
/// </summary>
/// <param name="State">
/// A <see cref="Dictionary<System.Int32, System.Int32>"/>
/// </param>
/// <param name="node">
/// A <see cref="Node"/>
/// </param>
/// <returns>
/// A <see cref="IEnumerable<Node>"/>
/// </returns>
public IEnumerable<Node> Enumerate(Dictionary<int, int> State, Node node)
{
if (node as Action != null)
yield return node as Action;
if (node as Conditional != null && State == null) //only enumerate conditionals if this is a non-state-dependent enumeration
yield return node as Conditional;
foreach (var c in node.Children)
foreach (var n in Enumerate(State, c))
yield return n;
var cond = node as Conditional;
if (cond != null)
{
if (cond.Success != null && ((State != null && cond.Evaluate(State)) || State == null))
foreach (var n in Enumerate(State, cond.Success))
yield return n;
if (cond.Failure != null && ((State != null && !cond.Evaluate(State)) || State == null))
foreach (var n in Enumerate(State, cond.Failure))
yield return n;
}
}
