public bool ValidatePlan(PartiallySpecifiedState pssCurrent)
{
if (pssCurrent == null)
{
return(false);
}
if (pssCurrent.IsGoalState())
{
return(true);
}
if (Action == null)
{
return(false);
}
Formula fObserved = null;
PartiallySpecifiedState psTrueState, psFalseState;
pssCurrent.ApplyOffline(Action, out fObserved, out psTrueState, out psFalseState);
if (Action.Observe == null)
{
return(SingleChild.ValidatePlan(psTrueState));
}
bool bTrueOk = TrueObservationChild.ValidatePlan(psTrueState);
bool bFalseOk = FalseObservationChild.ValidatePlan(psFalseState);
return(bTrueOk && bFalseOk);
}
private List <PartiallySpecifiedState> SearchAllStates(Domain domain, List <PartiallySpecifiedState> lInitialStates)
{
Console.WriteLine("Scanning all possible states, using BFS algorithm");
Formula fObserved = null;
PartiallySpecifiedState fTrueObserved = null;
PartiallySpecifiedState fFalseObserved = null;
Stack <PartiallySpecifiedState> OpenListStack = new Stack <PartiallySpecifiedState>(lInitialStates);
Dictionary <string, PartiallySpecifiedState> OpenList = new Dictionary <string, PartiallySpecifiedState>();
foreach (PartiallySpecifiedState pss in OpenListStack)
{
OpenList.Add(pss.ToString(), pss);
}
Dictionary <string, PartiallySpecifiedState> ClosedList = new Dictionary <string, PartiallySpecifiedState>();
List <IMAP.Action> groundedActions = domain.GroundAllActions(domain.Actions, domain.GroundAllPredicates(null), false, false);
int iterationCounter = 0;
while (OpenListStack.Count != 0)
{
if (iterationCounter++ % 100 == 0)
{
Console.WriteLine("Seaching: (OL=" + OpenListStack.Count + "/CL=" + ClosedList.Count + ")");
}
PartiallySpecifiedState selectedState = OpenListStack.Pop();
OpenList.Remove(selectedState.ToString());
ClosedList.Add(selectedState.ToString(), selectedState);
foreach (var a in groundedActions)
{
selectedState.ApplyOffline(a, out fObserved, out fTrueObserved, out fFalseObserved);
if (fTrueObserved != null && fTrueObserved.GetPositivePredicates().Count != selectedState.GetPositivePredicates().Count)
{
continue;
}
if (fTrueObserved != null)
{
if (ClosedList.ContainsKey(fTrueObserved.ToString()) || OpenList.ContainsKey(fTrueObserved.ToString()))
{
continue;
}
OpenListStack.Push(fTrueObserved);
OpenList.Add(fTrueObserved.ToString(), fTrueObserved);
}
}
}
return(ClosedList.Values.ToList());
}
private static bool CheckPlansOnSingleInitialState(PartiallySpecifiedState initialState, Dictionary <Constant, PlanResult> plans, List <Predicate> goals)
{
List <Action> actionsList = GenerateJointActionsListForSingleInitialState(initialState, plans);
List <Predicate> collectedPredicate = new List <Predicate>();
PartiallySpecifiedState currentState = initialState.Clone();
foreach (var action in actionsList)
{
currentState.ApplyOffline(action, out Formula obs, out PartiallySpecifiedState psTrue, out PartiallySpecifiedState psFalse);
currentState = psTrue;
}
if (currentState.IsGoalState())
{
return(true);
}
else
{
return(false);
}
}