public void AddStep(IPlan plan, OpenCondition oc)
{
foreach (var cndt in CacheMaps.GetCndts(oc.precondition))
{
if (cndt == null)
{
continue;
}
var planClone = plan.Clone() as IPlan;
planClone.ID += "a";
IPlanStep newStep;
if (cndt.Height > 0)
{
//continue;
var compCndt = cndt as Composite;
newStep = new CompositePlanStep(compCndt.Clone() as Composite)
{
Depth = oc.step.Depth
};
//planClone.Hdepth += compCndt.SubSteps.Count; // this is done now in beginning of Insert Decomp
}
else
{
newStep = new PlanStep(cndt.Clone() as IOperator)
{
Depth = oc.step.Depth
};
}
// For debugging
//planClone.ID += "(" + GroundActionFactory.GroundActions.IndexOf(newStep.Action) + ")";
planClone.Insert(newStep);
planClone.Repair(oc, newStep);
if (oc.isDummyGoal)
{
if (newStep.Height > 0)
{
var compNewStep = newStep as CompositePlanStep;
planClone.Orderings.Insert(oc.step.InitCndt, compNewStep.InitialStep);
}
else
{
planClone.Orderings.Insert(oc.step.InitCndt, newStep);
}
}
planClone.DetectThreats(newStep);
Insert(planClone);
}
}
public void AddStep(IPlan plan, OpenCondition oc)
{
foreach (var cndt in CacheMaps.GetCndts(oc.precondition))
{
if (cndt == null)
{
continue;
}
var planClone = plan.Clone() as IPlan;
IPlanStep newStep;
if (cndt.Height > 0)
{
//continue;
var compCndt = cndt as IComposite;
newStep = new CompositePlanStep(compCndt.Clone() as IComposite)
{
Depth = oc.step.Depth
};
}
else
{
newStep = new PlanStep(cndt.Clone() as IOperator)
{
Depth = oc.step.Depth
};
}
//newStep.Height = cndt.Height;
planClone.Insert(newStep);
planClone.Repair(oc, newStep);
// check if inserting new Step (with orderings given by Repair) add cndts/risks to existing open conditions, affecting their status in the heap
//planClone.Flaws.UpdateFlaws(planClone, newStep);
if (oc.isDummyGoal)
{
if (newStep.Height > 0)
{
var compNewStep = newStep as ICompositePlanStep;
planClone.Orderings.Insert(oc.step.InitCndt, compNewStep.InitialStep);
}
else
{
planClone.Orderings.Insert(oc.step.InitCndt, newStep);
}
}
planClone.DetectThreats(newStep);
Insert(planClone);
}
}
public void AddStep(IPlan plan, OpenCondition oc)
{
foreach (var cndt in CacheMaps.GetCndts(oc.precondition))
{
var planClone = plan.Clone() as IPlan;
var newStep = new PlanStep(cndt.Clone() as IOperator);
planClone.Insert(newStep);
planClone.Repair(oc, newStep);
// Check if inserting new Step (with orderings given by Repair) add cndts/risks to existing open conditions, affecting their status in the heap
//planClone.Flaws.UpdateFlaws(planClone, newStep);
// Detect if this new step threatens existing causal links
planClone.DetectThreats(newStep);
Insert(planClone);
}
}
public new void AddStep(IPlan plan, OpenCondition oc)
{
long before = 0;
var watch = System.Diagnostics.Stopwatch.StartNew();
foreach (var cndt in CacheMaps.GetCndts(oc.precondition))
{
if (cndt == null)
{
continue;
}
if (cndt.Height == 0)
{
continue;
}
before = watch.ElapsedMilliseconds;
var planClone = plan.Clone() as PlanSchedule;
IPlanStep newStep;
if (cndt.Height > 0)
{
//continue;
var compCndt = cndt as CompositeSchedule;
newStep = new CompositeSchedulePlanStep(compCndt.Clone() as IComposite, compCndt.Cntgs)
{
Depth = oc.step.Depth
};
}
else
{
// only add composite steps...
//continue;
newStep = new PlanStep(cndt.Clone() as IOperator)
{
Depth = oc.step.Depth
};
}
LogTime("CloneCndt", watch.ElapsedMilliseconds - before);
before = watch.ElapsedMilliseconds;
planClone.Insert(newStep);
LogTime("InsertDecomp", watch.ElapsedMilliseconds - before);
//newStep.Height = cndt.Height;
// planClone.Insert(newStep);
before = watch.ElapsedMilliseconds;
planClone.Repair(oc, newStep);
LogTime("RepairDecomp", watch.ElapsedMilliseconds - before);
// check if inserting new Step (with orderings given by Repair) add cndts/risks to existing open conditions, affecting their status in the heap
//planClone.Flaws.UpdateFlaws(planClone, newStep);
if (oc.isDummyGoal)
{
if (newStep.Height > 0)
{
var compNewStep = newStep as CompositeSchedulePlanStep;
planClone.Orderings.Insert(oc.step.InitCndt, compNewStep.InitialStep);
}
else
{
planClone.Orderings.Insert(oc.step.InitCndt, newStep);
}
}
before = watch.ElapsedMilliseconds;
planClone.DetectThreats(newStep);
LogTime("DetectThreats", watch.ElapsedMilliseconds - before);
before = watch.ElapsedMilliseconds;
Insert(planClone);
LogTime("InsertPlan", watch.ElapsedMilliseconds - before);
}
}
public new void AddStep(IPlan plan, OpenCondition oc)
{
long before = 0;
// check oc step depth.
var watch = System.Diagnostics.Stopwatch.StartNew();
foreach (var cndt in CacheMaps.GetCndts(oc.precondition))
{
if (cndt == null)
{
continue;
}
if (cndt.Height == 0)
{
continue;
}
before = watch.ElapsedMilliseconds;
var planClone = plan.Clone() as PlanSchedule;
//if (planClone.ID.Equals("1335"))
//{
// Console.WriteLine("Here");
//}
planClone.ID += "a";
IPlanStep newStep;
if (cndt.Height > 0)
{
//continue;
var compCndt = cndt as CompositeSchedule;
newStep = new CompositeSchedulePlanStep(compCndt.Clone() as CompositeSchedule)
{
Depth = oc.step.Depth
};
}
else
{
// only add composite steps...
//continue;
newStep = new PlanStep(cndt.Clone() as IOperator)
{
Depth = oc.step.Depth
};
}
planClone.ID += "(" + GroundActionFactory.GroundActions.IndexOf(newStep.Action) + ")";
LogTime("CloneCndt", watch.ElapsedMilliseconds - before);
before = watch.ElapsedMilliseconds;
planClone.Insert(newStep);
LogTime("InsertDecomp", watch.ElapsedMilliseconds - before);
//newStep.Height = cndt.Height;
// planClone.Insert(newStep);
before = watch.ElapsedMilliseconds;
planClone.Repair(oc, newStep);
LogTime("RepairDecomp", watch.ElapsedMilliseconds - before);
// check if inserting new Step (with orderings given by Repair) add cndts/risks to existing open conditions, affecting their status in the heap
//planClone.Flaws.UpdateFlaws(planClone, newStep);
if (oc.isDummyGoal)
{
if (newStep.Height > 0)
{
var compNewStep = newStep as CompositeSchedulePlanStep;
planClone.Orderings.Insert(oc.step.InitCndt, compNewStep.InitialStep);
//planClone.ID += string.Format("(^Oa[{0},{1}])", oc.step.InitCndt.ID, compNewStep.InitialStep.ID);
}
else
{
planClone.Orderings.Insert(oc.step.InitCndt, newStep);
//planClone.ID += string.Format("(^Oa[{0},{1}])", oc.step.InitCndt.ID, newStep.ID);
}
}
before = watch.ElapsedMilliseconds;
planClone.DetectThreats(newStep);
LogTime("DetectThreats", watch.ElapsedMilliseconds - before);
before = watch.ElapsedMilliseconds;
Insert(planClone);
LogTime("InsertPlan", watch.ElapsedMilliseconds - before);
}
}