public void Fill(ref CloseContainer Close, Dictionary <DefaultState, ARAstarNode> Visited, ref DefaultState stateReached, PlanningDomainBase domain, ref DefaultState current, ref KeyValuePair <DefaultState, ARAstarNode> goalPair, float inflationFactor)
{
//DefaultState s = goalPair.Key;
//Close.Insert(goalPair.Value);
plan.Clear();
DefaultState s;
if (Visited.ContainsKey(goalPair.Key))
{
s = stateReached = goalPair.Key;
}
else
{
s = stateReached;
}
DefaultAction a;
bool done = false;
/*foreach(ARAstarNode planNode in plan.Values)
* {
* Close.Insert(planNode);
* }
* plan.Clear();
*
* // TODO : check if we still need this function
* Close.UpdateReferences(inflationFactor, domain);*/
do
{
if (domain.equals(s, current, false))
{
done = true;
}
if (Visited.ContainsKey(s))
{
plan[s] = Visited[s];
s = Visited[s].previousState;
}
else
{
break;
}
} while (!done);
//updatePlanReference(domain);
}
/// <summary>
/// Initializes the containers.
/// </summary>
void InitializedArrays()
{
if (Close == null)
{
Close = new CloseContainer();
}
if (Open == null)
{
Open = new OpenContainer(this, usingHeap);
}
if (Incons == null)
{
Incons = new Incons();
}
if (Visited == null)
{
Visited = new VisitedContainer(selectedPlanningDomain);
}
}
public void Fill(ref CloseContainer Close, Dictionary<DefaultState, ARAstarNode> Visited, ref DefaultState stateReached, PlanningDomainBase domain, ref DefaultState current, ref KeyValuePair<DefaultState, ARAstarNode> goalPair, float inflationFactor)
{
//DefaultState s = goalPair.Key;
//Close.Insert(goalPair.Value);
plan.Clear();
DefaultState s;
if(Visited.ContainsKey(goalPair.Key))
s = stateReached = goalPair.Key;
else
s = stateReached;
DefaultAction a;
bool done = false;
/*foreach(ARAstarNode planNode in plan.Values)
{
Close.Insert(planNode);
}
plan.Clear();
// TODO : check if we still need this function
Close.UpdateReferences(inflationFactor, domain);*/
do {
if (domain.equals (s, current, false))
done = true;
if(Visited.ContainsKey(s)){
plan[s] = Visited[s];
s = Visited[s].previousState;
}
else{
break;
}
} while (!done);
//updatePlanReference(domain);
}