public Plan(Operator _initial, Operator _goal)
{
steps = new List <IPlanStep>();
causalLinks = new List <CausalLink <IPlanStep> >();
orderings = new Graph <IPlanStep>();
flaws = new Flawque();
decomplinks = new DecompositionLinks();
initial = new State(_initial.Effects);
goal = new State(_goal.Preconditions);
initialStep = new PlanStep(_initial);
goalStep = new PlanStep(_goal);
id = System.Threading.Interlocked.Increment(ref Counter).ToString();
}
// Used when cloning a plan: <S, O, L, D>, F
public Plan(List <IPlanStep> steps, IState initial, IState goal, IPlanStep initialStep, IPlanStep goalStep, Graph <IPlanStep> orderings, List <CausalLink <IPlanStep> > causalLinks, DecompositionLinks dlinks, Flawque flaws)
{
this.steps = steps;
this.causalLinks = causalLinks;
this.orderings = orderings;
this.decomplinks = dlinks;
this.flaws = flaws;
this.initial = initial;
this.goal = goal;
this.initialStep = initialStep;
this.goalStep = goalStep;
id = System.Threading.Interlocked.Increment(ref Counter).ToString();
}
public Plan(IState _initial, IState _goal)
{
steps = new List <IPlanStep>();
causalLinks = new List <CausalLink <IPlanStep> >();
orderings = new Graph <IPlanStep>();
decomplinks = new DecompositionLinks();
flaws = new Flawque();
initial = _initial;
goal = _goal;
initialStep = new PlanStep(new Operator("initial", new List <IPredicate>(), initial.Predicates));
goalStep = new PlanStep(new Operator("goal", goal.Predicates, new List <IPredicate>()));
id = System.Threading.Interlocked.Increment(ref Counter).ToString();
}
public Plan()
{
// S
steps = new List <IPlanStep>();
// O
orderings = new Graph <IPlanStep>();
// L
causalLinks = new List <CausalLink <IPlanStep> >();
// D
decomplinks = new DecompositionLinks();
// F
flaws = new Flawque();
// I
initial = new State();
// G
goal = new State();
// d_i
initialStep = new PlanStep(new Operator("initial", new List <IPredicate>(), initial.Predicates));
// d_g
goalStep = new PlanStep(new Operator("goal", goal.Predicates, new List <IPredicate>()));
id = System.Threading.Interlocked.Increment(ref Counter).ToString();
}
public PlanSchedule(IPlan plan, List <Tuple <IPlanStep, IPlanStep> > cntgs, List <Tuple <int, int> > mm, DecompositionLinks dlinks) : base(plan.Steps, plan.Initial, plan.Goal, plan.InitialStep, plan.GoalStep, plan.Orderings, plan.CausalLinks, plan.Flaws)
{
Cntgs = new Schedule(cntgs);
MM = new MergeManager(mm);
DeLinks = dlinks.Clone();
}
public PlanSchedule(IPlan plan, Schedule cntgs, MergeManager mm, DecompositionLinks dlinks) : base(plan.Steps, plan.Initial, plan.Goal, plan.InitialStep, plan.GoalStep, plan.Orderings, plan.CausalLinks, plan.Flaws)
{
Cntgs = cntgs;
MM = mm;
DeLinks = dlinks;
}
public PlanSchedule() : base()
{
Cntgs = new Schedule();
MM = new MergeManager();
DeLinks = new DecompositionLinks();
}
