// Use this for initialization
void Start()
{
start = startObject.transform.position;
goal = goalObject.transform.position;
startState = new FringePlanningState(start);
goalState = new FringePlanningState(goal);
outputPlan = new Stack <DefaultAction>();
planner = new FringeSearchPlanner(400);
planner.Cache = new Dictionary <DefaultState, FringeSearchNode>(planner._capacity);
initCache(ref planner.Cache);
domainList = new List <PlanningDomainBase>();
FringePlanningDomain domain = new FringePlanningDomain();
domain.setBoundaries(xmin, xmax, zmin, zmax);
domainList.Add(domain);
planner.init(ref domainList, -1);
DefaultState DcurrentState = startState as DefaultState;
DefaultState DgoalState = goalState as DefaultState;
bool planComputed = planner.computePlan(ref DcurrentState, ref DgoalState, ref outputPlan, -1);
Debug.Log(planComputed);
Debug.Log(outputPlan.Count);
st = new Stack <FringePlanningAction>();
while (outputPlan.Count != 0)
{
st.Push(outputPlan.Pop() as FringePlanningAction);
}
Debug.Log(st.Count);
}
// Use this for initialization
void Start()
{
start = startObject.transform.position;
goal = goalObject.transform.position;
startState = new FringePlanningState(start);
goalState = new FringePlanningState(goal);
outputPlan = new Stack<DefaultAction>();
planner = new FringeSearchPlanner(400);
planner.Cache = new Dictionary<DefaultState, FringeSearchNode>(planner._capacity);
initCache(ref planner.Cache);
domainList = new List<PlanningDomainBase>();
FringePlanningDomain domain = new FringePlanningDomain();
domain.setBoundaries(xmin,xmax,zmin,zmax);
domainList.Add(domain);
planner.init( ref domainList, -1);
DefaultState DcurrentState = startState as DefaultState;
DefaultState DgoalState = goalState as DefaultState;
bool planComputed = planner.computePlan(ref DcurrentState, ref DgoalState, ref outputPlan, -1);
Debug.Log(planComputed);
Debug.Log(outputPlan.Count);
st = new Stack<FringePlanningAction>();
while(outputPlan.Count != 0)
{
st.Push(outputPlan.Pop() as FringePlanningAction);
}
Debug.Log(st.Count);
}