/// <summary>
/// Gets a collection of all relevant predecessors (backwards transitions) from the specified relative state. Lazy generated via yield return.
/// </summary>
/// <param name="relativeState">Original state.</param>
/// <returns>Lazy generated collection of relevant predecessors.</returns>
public IEnumerable <IPredecessor> GetPredecessors(Planner.IRelativeState relativeState)
{
return(TransitionsGenerator.Value.GetPredecessors((IRelativeState)relativeState));
}
/// <summary>
/// Checks whether the initial state of the planning problem is meeting conditions specified by the given relative state.
/// </summary>
/// <param name="relativeState">Relative state to be checked.</param>
/// <returns>True if the given relative state is satisfied for the initial state of the problem, false otherwise.</returns>
public bool IsStartRelativeState(Planner.IRelativeState relativeState)
{
return(relativeState.Evaluate(InitialState));
}
/// <summary>
/// Applies the operator backwards to the given target relative state. The result is a new relative state (or more relative states, if conditional effects are present).
/// </summary>
/// <param name="relativeState">Target relative state.</param>
/// <returns>Preceding relative states.</returns>
public IEnumerable <Planner.IRelativeState> ApplyBackwards(Planner.IRelativeState relativeState)
{
return(Effects.ApplyBackwards((IRelativeState)relativeState, Preconditions));
}
/// <summary>
/// Checks whether the operator is relevant to the given target relative state.
/// </summary>
/// <param name="relativeState">Target relative state.</param>
/// <returns>True if the operator is relevant to the given relative state, false otherwise.</returns>
public bool IsRelevant(Planner.IRelativeState relativeState)
{
return(Effects.IsRelevant((IRelativeState)relativeState, Preconditions));
}
/// <summary>
/// Checks whether the operator is relevant to the given target relative state.
/// </summary>
/// <param name="relativeState">Target relative state.</param>
/// <returns>True if the operator is relevant to the given relative state, false otherwise.</returns>
public bool IsRelevant(Planner.IRelativeState relativeState)
{
return(LiftedOperator.IsRelevant((IRelativeState)relativeState, Substitution));
}
/// <summary>
/// Applies the operator backwards to the given target relative state. The result is a new relative state (or more relative states, if conditional effects are present).
/// </summary>
/// <param name="relativeState">Target relative state.</param>
/// <returns>Preceding relative states.</returns>
public IEnumerable <Planner.IRelativeState> ApplyBackwards(Planner.IRelativeState relativeState)
{
return(LiftedOperator.ApplyBackwards((IRelativeState)relativeState, Substitution));
}
