public void IdentifyLandmarks(Problem p, Domain d)
{
//State s0 = p.GetInitialBelief().ChooseState(true);
Console.WriteLine("Started identifying landmarks");
HashSet <Predicate> lInitialState = new HashSet <Predicate>(p.Known);
lInitialState = CompleteNegations(lInitialState, d);
List <Formula> lLandmarks = new List <Formula>();
Queue <Formula> qOpenLandmarks = new Queue <Formula>();
Console.WriteLine("Grounding actions");
List <Action> lGrounded = d.GroundAllActions(p);
Console.WriteLine("Removing disjunctions, conditional effects, and filtering impossible actions");
List <Action> lNoDisjunctions = RemoveDisjunctions(lGrounded);//remove disjunctions before grounding?
List <Action> lSimple = RemoveConditions(lNoDisjunctions);
lSimple = FilterImpossible(lSimple, lInitialState, d);
//lSimple = RemoveNegativePreconditions(lSimple);//need to remove this! enables many illegal actions - must work with complete positive and negative specification
Dictionary <Predicate, List <Action> > dPreconditionToAction = new Dictionary <Predicate, List <Action> >();
Dictionary <Predicate, List <Action> > dEffectToAction = new Dictionary <Predicate, List <Action> >();
ClassifyActions(lSimple, dPreconditionToAction, dEffectToAction);
Console.WriteLine("Processing landmarks");
foreach (Predicate pLandmark in p.Goal.GetAllPredicates())
{
lLandmarks.Add(new PredicateFormula(pLandmark));
qOpenLandmarks.Enqueue(new PredicateFormula(pLandmark));
}
Dictionary <Predicate, List <Formula> > dLandmarksForPredicate = new Dictionary <Predicate, List <Formula> >();
int cProcessed = 0;
while (qOpenLandmarks.Count > 0)
{
Formula fCurrent = qOpenLandmarks.Dequeue();
List <Action> lFiltered = new List <Action>(), lPotentialLandmarkAchievers = new List <Action>();
FilterActions(lSimple, fCurrent, lFiltered, lPotentialLandmarkAchievers, dPreconditionToAction, dEffectToAction, lInitialState);
HashSet <Predicate> lAllReachable = ReachablePredicates(lInitialState, lFiltered);
Dictionary <Predicate, List <Action> > dLandmarkAchievers = GetLandmarkAchievers(fCurrent, lAllReachable, lPotentialLandmarkAchievers);
List <Formula> lNewLandmarks = RegressLandmark(fCurrent, dLandmarkAchievers, lInitialState);
foreach (Formula fNew in lNewLandmarks)
{
bool bAlreadyFound = false;
foreach (Predicate pLandmark in fNew.GetAllPredicates())
{
if (!dLandmarksForPredicate.ContainsKey(pLandmark))
{
dLandmarksForPredicate[pLandmark] = new List <Formula>();
}
else
{
foreach (Formula fExisting in dLandmarksForPredicate[pLandmark])
{
if (fExisting.Size <= fNew.Size)
{
bAlreadyFound = true;
}
}
}
dLandmarksForPredicate[pLandmark].Add(fNew);
}
if (!bAlreadyFound)
{
qOpenLandmarks.Enqueue(fNew);
lLandmarks.Add(fNew);
}
}
cProcessed++;
if (cProcessed % 10 == 0)
{
Console.WriteLine("Processed " + cProcessed + " found " + lLandmarks.Count + " in queue " + qOpenLandmarks.Count);
}
}
StreamWriter sw = new StreamWriter("D:\\" + d.Name + ".Landmarks.txt");
foreach (Formula f in lLandmarks)
{
sw.WriteLine(f);
}
sw.Close();
}
public ForwardSearchPlanner(Domain d, Problem p, HeuristicFunction fHeuristic)
: base(d, p)
{
m_fHeuristic = fHeuristic;
}
