public void TestGetGoalsTiming()
{
string main_path = Directory.GetParent(Directory.GetCurrentDirectory()).Parent.Parent.Parent.FullName + @"\PlanningProblems\BoxPushing\B3\";
string filePathProblem = main_path + "p.pddl";
string filePathDomain = main_path + "d.pddl";
Domain d = Parser.ParseDomain(filePathDomain, "agent");
Problem p = Parser.ParseProblem(filePathProblem, d);
IterativeMAPlanner ma_planner = new IterativeMAPlanner(d, p, SDRPlanner.Planners.FF);
var ma_result = ma_planner.Plan();
Assert.IsNotNull(ma_result);
Constant a1 = d.GetAgents()[0];
PlanResult pr = ma_result[a1];
List <Predicate> goals = p.GetGoals();
Dictionary <Predicate, int> timing = new Dictionary <Predicate, int>();
pr.Plan.GetGoalsTiming(goals, null, ref timing);
string plan = PlanTreePrinter.Print(pr.Plan);
File.WriteAllText(main_path + "plan_" + a1.Name + ".txt", plan);
Assert.AreEqual(timing.Count, p.GetGoals().Count - 1);
}
public void IterativeMAPlanner_TestPlan_TwoJoint()
{
string filePathProblem = Directory.GetParent(Directory.GetCurrentDirectory()).Parent.Parent.Parent.FullName + @"\PlanningProblems\ButtonPushing\B2\p.pddl";
string filePathDomain = Directory.GetParent(Directory.GetCurrentDirectory()).Parent.Parent.Parent.FullName + @"\PlanningProblems\ButtonPushing\B2\d.pddl";
Domain d = Parser.ParseDomain(filePathDomain, "agent");
Problem p = Parser.ParseProblem(filePathProblem, d);
IterativeMAPlanner ma_planner = new IterativeMAPlanner(d, p, SDRPlanner.Planners.FF);
var result = ma_planner.Plan();
Assert.AreEqual(result.Count, 2);
}
public void RunPP_ButtonPushing_TestB2()
{
string main_path = Directory.GetParent(Directory.GetCurrentDirectory()).Parent.Parent.Parent.FullName + @"\PlanningProblems\ButtonPushing\B2\";
string filePathProblem = main_path + "p.pddl";
string filePathDomain = main_path + "d.pddl";
Domain d = Parser.ParseDomain(filePathDomain, "agent");
Problem p = Parser.ParseProblem(filePathProblem, d);
IterativeMAPlanner ma_planner = new IterativeMAPlanner(d, p, SDRPlanner.Planners.FF);
var result = ma_planner.Plan();
foreach (var res in result)
{
string plan = PlanTreePrinter.Print(res.Value.Plan);
File.WriteAllText(main_path + "plan_" + res.Key.Name + ".txt", plan);
}
Console.WriteLine("Done");
}
internal static bool RunProblem(string mainPath)
{
string filePathProblem = mainPath + "p.pddl";
string filePathDomain = mainPath + "d.pddl";
Domain d = Parser.ParseDomain(filePathDomain, "agent");
Problem p = Parser.ParseProblem(filePathProblem, d);
IterativeMAPlanner ma_planner = new IterativeMAPlanner(d, p, SDRPlanner.Planners.FF);
var result = ma_planner.Plan();
foreach (var res in result)
{
string plan = PlanTreePrinter.Print(res.Value.Plan);
File.WriteAllText(mainPath + "plan_" + res.Key.Name + ".txt", plan);
}
bool isValid = CheckMAPlan.IsValid2(d, p, result);
return(isValid);
}
private void RunTest(string ProblemPath)
{
string main_path = ProblemPath;
string filePathProblem = main_path + "p.pddl";
string filePathDomain = main_path + "d.pddl";
Domain d = Parser.ParseDomain(filePathDomain, "rover");
Problem p = Parser.ParseProblem(filePathProblem, d);
IterativeMAPlanner ma_planner = new IterativeMAPlanner(d, p, SDRPlanner.Planners.FF);
var result = ma_planner.Plan();
foreach (var res in result)
{
string plan = PlanTreePrinter.Print(res.Value.Plan);
File.WriteAllText(main_path + "plan_" + res.Key.Name + ".txt", plan);
}
bool isValid = CheckMAPlan.IsValid(result);
Console.WriteLine("Is valid? " + isValid);
Console.WriteLine("Done");
}
public void RunPP_RescueOperation_TestRO1()
{
string main_path = Directory.GetParent(Directory.GetCurrentDirectory()).Parent.Parent.Parent.FullName + @"\PlanningProblems\RescueOperation\RO1\";
string filePathProblem = main_path + "p.pddl";
string filePathDomain = main_path + "d.pddl";
Domain d = Parser.ParseDomain(filePathDomain, "agent");
Problem p = Parser.ParseProblem(filePathProblem, d);
IterativeMAPlanner ma_planner = new IterativeMAPlanner(d, p, SDRPlanner.Planners.FF);
var result = ma_planner.Plan();
foreach (var res in result)
{
string plan = PlanTreePrinter.Print(res.Value.Plan);
File.WriteAllText(main_path + "plan_" + res.Key.Name + ".txt", plan);
}
bool isValid = CheckMAPlan.IsValid(result);
Console.WriteLine("Is valid? " + isValid);
Console.WriteLine("Done");
}
