|
public PlanOrder ( IEnumerable |
||
| initialState | IEnumerable |
Initial Predicates |
| goalState | IEnumerable |
Goal Predicates |
| return | ||
public void PlanOrderTest()
{
Action RightShoe = new Action(Predicate.Create("RightShoe"));
RightShoe.AddPrecondition(Predicate.Create("RightSockOn"));
RightShoe.AddEffect(Predicate.Create("RightShoeOn"));
Action RightSock = new Action(Predicate.Create("RightSock"));
RightSock.AddEffect(Predicate.Create("RightSockOn"));
Action LeftShoe = new Action(Predicate.Create("LeftShoe"));
LeftShoe.AddPrecondition(Predicate.Create("LeftSockOn"));
LeftShoe.AddEffect(Predicate.Create("LeftShoeOn"));
Action LeftSock = new Action(Predicate.Create("LeftSock"));
LeftSock.AddEffect(Predicate.Create("LeftSockOn"));
PartialOrderPlanner target = new PartialOrderPlanner(RightShoe, RightSock, LeftShoe, LeftSock);
IEnumerable<Predicate> voInitialState = null;
List<Predicate> voGoalState = new List<Predicate>();
voGoalState.Add(Predicate.Create("RightShoeOn"));
voGoalState.Add(Predicate.Create("LeftShoeOn"));
PartialOrderPlan plan = target.PlanOrder(voInitialState, voGoalState);
Assert.IsTrue(plan != null);
List<Action> theActions = plan.SortedActions;
foreach(Action action in theActions)
{
string sOut = string.Format("{0}", action.Identity.Name);
Console.Out.WriteLine(sOut);
}
}
public void PlanOrderTestTireProblem()
{
Action RemoveSpare = new Action(Predicate.Create("Remove", false, new ConstantTerm[] { "Spare", "Trunk" }));
RemoveSpare.AddPrecondition(Predicate.Create("At", false, new ConstantTerm[] { "Spare", "Trunk" }));
RemoveSpare.AddEffect(Predicate.Create("At", true, new ConstantTerm[] { "Spare", "Trunk" }));
RemoveSpare.AddEffect(Predicate.Create("At", false, new ConstantTerm[] { "Spare", "Ground" }));
Action RemoveFlat = new Action(Predicate.Create("Remove", false, ConstantTerm.Create("Flat"), ConstantTerm.Create("Axle")));
RemoveFlat.AddPrecondition(Predicate.Create("At", false, ConstantTerm.Create("Flat"), ConstantTerm.Create("Axle")));
RemoveFlat.AddEffect(Predicate.Create("At", true, ConstantTerm.Create("Flat"), ConstantTerm.Create("Axle")));
RemoveFlat.AddEffect(Predicate.Create("At", false, ConstantTerm.Create("Flat"), ConstantTerm.Create("Ground")));
Action PutOnSpare = new Action(Predicate.Create("PutOn", false, ConstantTerm.Create("Spare"), ConstantTerm.Create("Axle")));
PutOnSpare.AddPrecondition(Predicate.Create("At", false, ConstantTerm.Create("Spare"), ConstantTerm.Create("Ground")));
PutOnSpare.AddPrecondition(Predicate.Create("At", true, ConstantTerm.Create("Flat"), ConstantTerm.Create("Axle")));
PutOnSpare.AddEffect(Predicate.Create("At", true, ConstantTerm.Create("Spare"), ConstantTerm.Create("Ground")));
PutOnSpare.AddEffect(Predicate.Create("At", false, ConstantTerm.Create("Spare"), ConstantTerm.Create("Axle")));
Action LeaveOvernight = new Action(Predicate.Create("LeaveOvernight"));
LeaveOvernight.AddEffect(Predicate.Create("At", true, ConstantTerm.Create("Spare"), ConstantTerm.Create("Ground")));
LeaveOvernight.AddEffect(Predicate.Create("At", true, ConstantTerm.Create("Spare"), ConstantTerm.Create("Axle")));
LeaveOvernight.AddEffect(Predicate.Create("At", true, ConstantTerm.Create("Spare"), ConstantTerm.Create("Trunk")));
LeaveOvernight.AddEffect(Predicate.Create("At", true, ConstantTerm.Create("Flat"), ConstantTerm.Create("Ground")));
LeaveOvernight.AddEffect(Predicate.Create("At", true, ConstantTerm.Create("Flat"), ConstantTerm.Create("Axle")));
PartialOrderPlanner target = new PartialOrderPlanner(RemoveSpare, RemoveFlat, PutOnSpare, LeaveOvernight);
List<Predicate> voInitialState = new List<Predicate>();
voInitialState.Add(Predicate.Create("At", false, ConstantTerm.Create("Flat"), ConstantTerm.Create("Axle")));
voInitialState.Add(Predicate.Create("At", false, ConstantTerm.Create("Spare"), ConstantTerm.Create("Trunk")));
List<Predicate> voGoalState = new List<Predicate>();
voGoalState.Add(Predicate.Create("At", false, ConstantTerm.Create("Spare"), ConstantTerm.Create("Axle")));
PartialOrderPlan plan = target.PlanOrder(voInitialState, voGoalState);
Assert.IsTrue(plan != null);
List<Action> theActions = plan.SortedActions;
foreach (Action action in theActions)
{
StringBuilder sb = new StringBuilder();
sb.AppendFormat("{0}", action.Identity.Name);
if (action.Identity.Parameters != null && action.Identity.Parameters.Count > 0)
{
sb.Append("(");
foreach(Term t in action.Identity.Parameters)
{
sb.Append(t.Name + ",");
}
sb.Length--;
sb.Append(")");
}
Console.Out.WriteLine(sb.ToString());
}
}
/// <summary>
/// Decompose this Task into a Partial Order Plan
/// </summary>
/// <returns></returns>
public PartialOrderPlan Decompose()
{
//TODO: Unfinished
PartialOrderPlanner planner = new PartialOrderPlanner(SubTasks.ToArray());
return planner.PlanOrder(new List<Predicate>(Preconditions), new List<Predicate>(Effects));
}