public Plan(Operator _initial, Operator _goal)
{
steps = new List <IPlanStep>();
causalLinks = new List <CausalLink <IPlanStep> >();
orderings = new Graph <IPlanStep>();
flaws = new Flawque();
initial = new State(_initial.Effects);
goal = new State(_goal.Preconditions);
initialStep = new PlanStep(_initial);
goalStep = new PlanStep(_goal);
}
public Plan(IState _initial, IState _goal)
{
steps = new List <IPlanStep>();
causalLinks = new List <CausalLink <IPlanStep> >();
orderings = new Graph <IPlanStep>();
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>()));
}
// Used when cloning a plan: <S, O, L>, F
public Plan(List <IPlanStep> steps, IState initial, IState goal, IPlanStep initialStep, IPlanStep goalStep, Graph <IPlanStep> orderings, List <CausalLink <IPlanStep> > causalLinks, Flawque flaws)
{
this.steps = steps;
this.causalLinks = causalLinks;
this.orderings = orderings;
this.flaws = flaws;
this.initial = initial;
this.goal = goal;
this.initialStep = initialStep;
this.goalStep = goalStep;
}
// Used when cloning a plan: <S, O, L>, F
public Plan(List <IPlanStep> steps, IState initial, IState goal, IPlanStep initialStep, IPlanStep goalStep, Graph <IPlanStep> orderings, List <CausalLink <IPlanStep> > causalLinks, Flawque flaws)
{
this.steps = steps;
this.causalLinks = causalLinks;
this.orderings = orderings;
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(Operator _initial, Operator _goal)
{
steps = new List <IPlanStep>();
causalLinks = new List <CausalLink <IPlanStep> >();
orderings = new Graph <IPlanStep>();
flaws = new Flawque();
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();
}
public Plan(IState _initial, IState _goal)
{
steps = new List <IPlanStep>();
causalLinks = new List <CausalLink <IPlanStep> >();
orderings = new Graph <IPlanStep>();
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> >();
flaws = new Flawque();
initial = new State();
goal = new State();
initialStep = new PlanStep(new Operator("initial", new List <IPredicate>(), initial.Predicates));
goalStep = new PlanStep(new Operator("goal", goal.Predicates, new List <IPredicate>()));
}
// Creates a clone of the plan. (orderings, and Links are Read-only, so only their host containers are replaced)
public Object Clone()
{
List <IPlanStep> newSteps = new List <IPlanStep>();
foreach (var step in steps)
{
// need clone because these have fulfilled conditions that are mutable.
newSteps.Add(step.Clone() as IPlanStep);
}
// these are static read only things
//IState newInitial = initial.Clone() as IState;
//IState newGoal = goal.Clone() as IState;
IPlanStep newInitialStep = initialStep.Clone() as IPlanStep;
// need clone of goal step because this as fulfillable conditions
IPlanStep newGoalStep = goalStep.Clone() as IPlanStep;
// Assuming for now that members of the ordering graph are never mutated. If they are, then a clone will keep references to mutated members
Graph <IPlanStep> newOrderings = orderings.Clone() as Graph <IPlanStep>;
// Causal Links are containers whose members are not mutated.
List <CausalLink <IPlanStep> > newLinks = new List <CausalLink <IPlanStep> >();
foreach (var cl in causalLinks)
{
newLinks.Add(cl as CausalLink <IPlanStep>);
//newLinks.Add(cl.Clone() as CausalLink<IPlanStep>);
}
// Inherit all flaws, must clone very flaw
Flawque flawList = flaws.Clone() as Flawque;
//return new Plan(newSteps, newInitial, newGoal, newInitialStep, newGoalStep, newOrderings, newLinks, flawList);
var p = new Plan(newSteps, Initial, Goal, newInitialStep, newGoalStep, newOrderings, newLinks, flawList)
{
Hdepth = hdepth,
Decomps = decomps
};
p.id = id + p.id;
return(p);
}
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();
}
