List <OptionN> createOptFromSubGoals(List <SubGoal> subgoals)
{
List <OptionN> options = new List <OptionN>();
for (int i = 0; i < subgoals.Count; i++)
{
SubGoal s = subgoals[i];
OptionN o = new OptionN(s.State, this);
options.Add(o);
for (int j = 0; j < Model[s.State].Count; j++)
{
if (Model[s.State][j] == null)
{
continue;
}
if (Q[s.State].Actions[j].O != null)
{
continue;
}
o.AddSASp(s.State, j, Model[s.State][j].sP);
constOptionN(subgoals, s, o, Model[s.State][j].sP);
}
}
return(options);
}
void constOptionN(List <SubGoal> subgoals, SubGoal s, OptionN o, int state)
{
if (o.initSet.Keys.Contains(state))
{
return;
}
if (isSubgoal(state))
{
return;
}
Q[state].Actions.Add(new Action(o));
for (int i = 0; i < Model[state].Count; i++)
{
if (Model[state][i] != null && Q[state].Actions[i].O == null)
{
o.AddSASp(state, i, Model[state][i].sP);
constOptionN(subgoals, s, o, Model[state][i].sP);
}
}
}