public static IPlan CreateInitialPlan(List <IPredicate> Initial, List <IPredicate> Goal)
{
var initialPlan = new PlanSchedule(new Plan(new State(Initial) as IState, new State(Goal) as IState), new List <Tuple <IPlanStep, IPlanStep> >(), new List <Tuple <int, int> >(), new DecompositionLinks());
foreach (var goal in Goal)
{
initialPlan.Flaws.Add(initialPlan, new OpenCondition(goal, initialPlan.GoalStep as IPlanStep));
}
initialPlan.Orderings.Insert(initialPlan.InitialStep, initialPlan.GoalStep);
return(initialPlan);
}
public new System.Object Clone()
{
var basePlanClone = base.Clone() as Plan;
var newPlan = new PlanSchedule(basePlanClone, new HashSet <Tuple <IPlanStep, IPlanStep> >(Cntgs.edges), new HashSet <Tuple <int, int> >(MM.Merges), DeLinks.Clone())
{
Hdepth = hdepth,
Decomps = Decomps
};
newPlan.id = id + newPlan.id;
return(newPlan);
}
