public HSPNode(HashSet <string> state, HSPAction action, HSPNode parent = null, int g = 0, int h = 0)
{
_state = state;
_action = action;
_parent = parent;
_g = g;
_h = h;
_stateString = setStateString();
}
public List <HSPAction> BeginDeriveActions(List <HSPOperator> _operations, List <HSPPredicate> _objects)
{
List <HSPAction> actions = new List <HSPAction>();
foreach (HSPOperator _operator in _operations)
{
List <string> variables = new List <string>();
variables = DeriveVariables(_operator);
List <HashSet <string> > objects = new List <HashSet <string> >();
objects = DeriveObjects(_operator, _objects);
List <List <string> > product = new List <List <string> >();
product = CartesianProduct(objects);
foreach (var prod in product)
{
Dictionary <string, string> subst = new Dictionary <string, string>();
//'Replaces' Zip...
for (var i = 0; i < variables.Count; i++)
{
subst.Add(variables[i], prod[i]);
}
bool valid = true;
foreach (HSPLiteral _precondition in _operator._preconditions)
{
if (_precondition.isNegative())
{
string lhs = prod[0];
string rhs = prod[1];
if (lhs == rhs)
{
valid = false;
break;
}
}
}
if (valid)
{
HSPAction action = ConvertOperatorIntoAction(_operator, subst);
actions.Add(action);
}
}
}
return(actions);
}
private HashSet <string> DeriveNewStateFromAction(HSPAction action, HashSet <string> groundedState)
{
Stopwatch watch = new Stopwatch();
watch.Start();
//Derive New State From Action
HashSet <string> newGrounds = new HashSet <string>();
foreach (var item in groundedState)
{
newGrounds.Add(item);
}
newGrounds.ExceptWith(action.getNegEffects());
newGrounds.UnionWith(action.getPosEffects());
watch.Stop();
timeDeriveState += watch.Elapsed.TotalSeconds;
return(newGrounds);
}
