public override iThinkPlan SearchMethod(iThinkState GoalState, iThinkActionManager ActionManager, List <iThinkPlan> OpenStates, List <iThinkState> VisitedStates)
{
//Debug.LogWarning(GoalState.ToString());
//Debug.LogWarning(ActionManager.getActions().Count);
//Debug.LogWarning(OpenStates.Count);
//Debug.LogWarning(VisitedStates.Count);
/*Debug.Log("Available Actions = " + totalActions);
* foreach ( iThinkAction act in ActionManager.getActions() )
* Debug.Log(act.ToString());*/
int it = 0;
iThinkPlan curStep, nextStep;
iThinkState CurrentState;
while (OpenStates.Count != 0)
{
List <iThinkAction> applicableActions = new List <iThinkAction>();
curStep = new iThinkPlan(OpenStates[0]);
CurrentState = OpenStates[0].getState();
VisitedStates.Add(CurrentState);
OpenStates.RemoveAt(0);
//Debug.LogWarning( "Iteration #" + it + " - " + curStep.getState().ToString() );
applicableActions = getApplicable(CurrentState, ActionManager.getActions());
int count = 0;
foreach (iThinkAction action in applicableActions)
{
//Debug.Log(action.ToString());
nextStep = progress(curStep, action);
if (compareStates(nextStep.getState(), GoalState))
{
Debug.Log("Found Plan (DepthFS) after " + it + " iterations, of length " + nextStep.getPlanActions().Count);
Plan.setPlan(nextStep);
return(Plan);
}
if (!VisitedStates.Contains(nextStep.getState()))
{
OpenStates.Insert(count, nextStep);
count++;
}
}
++it;
}
Debug.Log("Didn't find Plan (DepthFS) " + it);
return(null);
}
public override iThinkPlan SearchMethod( iThinkState GoalState, iThinkActionManager ActionManager, List<iThinkPlan> OpenStates, List<iThinkState> VisitedStates )
{
//Debug.LogWarning(GoalState.ToString());
//Debug.LogWarning(ActionManager.getActions().Count);
//Debug.LogWarning(OpenStates.Count);
//Debug.LogWarning(VisitedStates.Count);
/*Debug.Log("Available Actions = " + totalActions);
foreach ( iThinkAction act in ActionManager.getActions() )
Debug.Log(act.ToString());*/
int it = 0;
iThinkPlan curStep, nextStep;
iThinkState CurrentState;
while ( OpenStates.Count != 0 )
{
List<iThinkAction> applicableActions = new List<iThinkAction>();
curStep = new iThinkPlan( OpenStates[0] );
CurrentState = OpenStates[0].getState();
VisitedStates.Add( CurrentState );
OpenStates.RemoveAt( 0 );
//Debug.LogWarning( "Iteration #" + it + " - " + curStep.getState().ToString() );
applicableActions = getApplicable( CurrentState, ActionManager.getActions() );
int count=0;
foreach ( iThinkAction action in applicableActions )
{
//Debug.Log(action.ToString());
nextStep = progress( curStep, action );
if ( compareStates( nextStep.getState(), GoalState ) )
{
Debug.Log( "Found Plan (DepthFS) after " + it + " iterations, of length " + nextStep.getPlanActions().Count );
Plan.setPlan( nextStep );
return Plan;
}
if( !VisitedStates.Contains(nextStep.getState()))
{
OpenStates.Insert( count, nextStep );
count++;
}
}
++it;
}
Debug.Log( "Didn't find Plan (DepthFS) " + it );
return null;
}
public override iThinkPlan SearchMethod(iThinkState GoalState, iThinkActionManager ActionManager,
List <iThinkPlan> OpenStates, List <iThinkState> VisitedStates)
{
int it = 0;
iThinkPlan curStep, nextStep;
iThinkState CurrentState = null;
List <iThinkPlan> stateList = null;
this.totalActions = ActionManager.getActions().Count;
this.nodes += OpenStates.Count;
/*Debug.Log("Available Actions = " + totalActions);
* foreach ( iThinkAction act in ActionManager.getActions() )
* Debug.Log(act.ToString());*/
List <iThinkAction> applicableActions = new List <iThinkAction>();
stateList = new List <iThinkPlan>();
if (compareStates(OpenStates[0].getState(), GoalState))
{
Debug.Log("Found Plan (BestFS) - Already at goal state!");
Plan.setPlan(OpenStates[0]);
repoFunct.completed = true;
return(Plan);
}
while (OpenStates.Count != 0)
{
if (it % 200 == 0 && it != 0)
{
//InitRepo();
this.repoOpenStates = new List <iThinkPlan>(OpenStates);
this.repoVisitedStates = new List <iThinkState>(VisitedStates);
this.repoStateList = new List <iThinkPlan>(stateList);
this.repoCurrentState = new iThinkState(CurrentState);
this.repoIterations = it;
repoFunct.loadData = true;
return(null);
}
else if (repoFunct.loadData)
{
OpenStates = this.repoOpenStates;
VisitedStates = this.repoVisitedStates;
stateList = this.repoStateList;
CurrentState = this.repoCurrentState;
it = this.repoIterations;
repoFunct.loadData = false;
//ClearRepo();
}
else
{
stateList = new List <iThinkPlan>();
}
curStep = new iThinkPlan(OpenStates[0]);
CurrentState = OpenStates[0].getState();
//Debug.Log(GoalState.ToString());
//Debug.Log(CurrentState.ToString());
//Debug.LogWarning( "Iteration #" + it + " - " + curStep.getState().ToString() );
VisitedStates.Add(OpenStates[0].getState());
OpenStates.RemoveAt(0);
applicableActions = getApplicable(CurrentState, ActionManager.getActions());
this.nodesExpanded++;
this.totalApplicable += applicableActions.Count;
foreach (iThinkAction action in applicableActions)
{
//Debug.Log(action.ToString());
nextStep = progress(curStep, action);
if (compareStates(nextStep.getState(), GoalState))
{
Debug.Log("Found Plan (BestFS) after " + it + " iterations, of length " + nextStep.getPlanActions().Count);
Plan.setPlan(nextStep);
repoFunct.completed = true;
return(Plan);
}
if (VisitedStates.Contains(nextStep.getState()) == false)
{
int Cost = hFunction(nextStep.getState(), GoalState);
nextStep.getState().setCost(Cost);
stateList.Add(nextStep);
this.nodes++;
this.totalActionsUsed++;
}
}
OpenStates.AddRange(stateList);
OpenStates.Sort(delegate(iThinkPlan obj1, iThinkPlan obj2)
{
if (obj1.getState().getCost() == obj2.getState().getCost())
{
return(0);
}
else if (obj1.getState().getCost() > obj2.getState().getCost())
{
return(-1);
}
else
{
return(1);
}
}
);
++it;
}
Debug.Log("Didn't find plan (BestFS) " + it);
return(null);
}
public override iThinkPlan SearchMethod( iThinkState GoalState, iThinkActionManager ActionManager,
List<iThinkPlan> OpenStates, List<iThinkState> VisitedStates )
{
int it = 0;
iThinkPlan curStep, nextStep;
iThinkState CurrentState = null;
List<iThinkPlan> stateList = null;
this.totalActions = ActionManager.getActions().Count;
this.nodes += OpenStates.Count;
/*Debug.Log("Available Actions = " + totalActions);
foreach ( iThinkAction act in ActionManager.getActions() )
Debug.Log(act.ToString());*/
List<iThinkAction> applicableActions = new List<iThinkAction>();
stateList = new List<iThinkPlan>();
if ( compareStates( OpenStates[0].getState(), GoalState ) )
{
Debug.Log( "Found Plan (BestFS) - Already at goal state!" );
Plan.setPlan( OpenStates[0] );
repoFunct.completed=true;
return Plan;
}
while ( OpenStates.Count != 0 )
{
if(it % 200 == 0 && it!=0){
//InitRepo();
this.repoOpenStates = new List<iThinkPlan>(OpenStates);
this.repoVisitedStates = new List<iThinkState>(VisitedStates);
this.repoStateList = new List<iThinkPlan>(stateList);
this.repoCurrentState = new iThinkState(CurrentState);
this.repoIterations = it;
repoFunct.loadData = true;
return null;
}else if( repoFunct.loadData ){
OpenStates = this.repoOpenStates;
VisitedStates = this.repoVisitedStates;
stateList = this.repoStateList;
CurrentState = this.repoCurrentState;
it = this.repoIterations;
repoFunct.loadData = false;
//ClearRepo();
}else{
stateList = new List<iThinkPlan>();
}
curStep = new iThinkPlan( OpenStates[0] );
CurrentState = OpenStates[0].getState();
//Debug.Log(GoalState.ToString());
//Debug.Log(CurrentState.ToString());
//Debug.LogWarning( "Iteration #" + it + " - " + curStep.getState().ToString() );
VisitedStates.Add( OpenStates[0].getState() );
OpenStates.RemoveAt( 0 );
applicableActions = getApplicable( CurrentState, ActionManager.getActions() );
this.nodesExpanded++;
this.totalApplicable += applicableActions.Count;
foreach ( iThinkAction action in applicableActions )
{
//Debug.Log(action.ToString());
nextStep = progress( curStep, action );
if ( compareStates( nextStep.getState(), GoalState ) )
{
Debug.Log( "Found Plan (BestFS) after " + it + " iterations, of length " + nextStep.getPlanActions().Count );
Plan.setPlan( nextStep );
repoFunct.completed=true;
return Plan;
}
if ( VisitedStates.Contains(nextStep.getState()) == false )
{
int Cost = hFunction( nextStep.getState(), GoalState );
nextStep.getState().setCost( Cost );
stateList.Add( nextStep );
this.nodes ++;
this.totalActionsUsed++;
}
}
OpenStates.AddRange( stateList );
OpenStates.Sort( delegate( iThinkPlan obj1, iThinkPlan obj2 )
{
if ( obj1.getState().getCost() == obj2.getState().getCost() )
return 0;
else if ( obj1.getState().getCost() > obj2.getState().getCost() )
return -1;
else
return 1;
}
);
++it;
}
Debug.Log( "Didn't find plan (BestFS) " + it );
return null;
}
public override iThinkPlan SearchMethod(iThinkState GoalState, iThinkActionManager ActionManager,
List <iThinkPlan> OpenStates, List <iThinkState> VisitedStates)
{
int it = 0;
iThinkPlan curStep, nextStep;
iThinkState CurrentState = null;
List <iThinkPlan> stateList = null;
while (OpenStates.Count != 0)
{
List <iThinkAction> applicableActions = new List <iThinkAction>();
stateList = new List <iThinkPlan>();
curStep = new iThinkPlan(OpenStates[0]);
CurrentState = OpenStates[0].getState();
//VisitedStates.Add(CurrentState);
OpenStates.RemoveAt(0);
if (curStep.getActionCount() < depth)
{
applicableActions = getApplicable(CurrentState, ActionManager.getActions());
foreach (iThinkAction action in applicableActions)
{
nextStep = progress(curStep, action);
if (compareStates(nextStep.getState(), GoalState))
{
Debug.Log("Found Plan (A*-weak FS) after " + it + " iterations, of length " + nextStep.getPlanActions().Count + ", Nodes Expanded: " + nodesExpanded);
Plan.setPlan(nextStep);
repoFunct.completed = true;
return(Plan);
}
if (!VisitedStates.Contains(nextStep.getState()))
{
int Cost = hFunction(nextStep.getState(), GoalState);
Cost = Cost + nextStep.getPlanActions().Count;
nextStep.getState().setCost(Cost);
stateList.Add(nextStep);
}
}
OpenStates.AddRange(stateList);
OpenStates.Sort(delegate(iThinkPlan obj1, iThinkPlan obj2)
{
if (obj1.getState().getCost() == obj2.getState().getCost())
{
return(0);
}
else if (obj1.getState().getCost() < obj2.getState().getCost())
{
return(-1);
}
else
{
return(1);
}
}
);
++it;
}
}
Debug.Log("Didn't find Plan (A*-weak FS)");
return(null);
}