private double PathfindingHeuristic(RegressiveNode sourceNode, RegressiveNode targetNode)
{
DebugUtils.Assert(!sourceNode.IsTarget, "sourceNode must not be a target {0}", typeof(RegressiveNode));
DebugUtils.Assert(targetNode.IsTarget, "targetNode must be a target {0}", typeof(RegressiveNode));
return(sourceNode.CurrentConstraints
.Sum(kvp => kvp.Value.AbsDistanceFrom(targetNode.InitialState[kvp.Key]) * experienceWeight));
}
public Plan FormulatePlan(
IKnowledgeProvider knowledgeProvider,
IEnumerable <PlanningAction> availableActions,
Goal goal
)
{
// TODO: Ideally, world state should be populated lazily, not in advance, like here.
// Some symbols may not be needed at all to build a plan!
// (also see comments on IPrecondition and IEffect RelevantActions property)
var initialWorldState = new RelevantSymbolsPopulator(availableActions, goal)
.PopulateWorldState(knowledgeProvider);
// TODO: After lazy population is implemented, the following part of the method is the only thing
// that must remain.
var goalConstraints = new RegressiveStatePopulator().Populate(goal);
try
{
var path = this.pathfinder.FindPath(
RegressiveNode.MakeRegular(
goalConstraints,
initialWorldState,
new RegressiveNodeExpander(availableActions)
),
RegressiveNode.MakeTarget(initialWorldState)
);
// UnityEngine.Debug.Log("Regressive path:");
// for(int i = 0; i < path.Edges.Count(); i++)
// {
// if(i == 0)
// {
// UnityEngine.Debug.LogFormat("Initial: {0}", path.Edges.ElementAt(i).SourceNode);
// }
// UnityEngine.Debug.LogFormat("After {0}: {1}", ((RegressiveEdge)path.Edges.ElementAt(i)).Action.Name, path.Edges.ElementAt(i).TargetNode);
//
// if(i > 0)
// {
// DebugUtils.Assert(path.Edges.ElementAt(i - 1).TargetNode == path.Edges.ElementAt(i).SourceNode, "path must be consistent");
// }
// }
// FIXME: Downcasting to RegressiveNode - may be fixed by adding another generic parameter to IPathfinder.
//return new Plan(SortActions(from edge in path.Edges.Reverse() select ((RegressiveEdge)edge).Action, initialWorldState));
return(new Plan(from edge in path.Edges.Reverse() select((RegressiveEdge)edge).Action, goal));
}
catch (PathNotFoundException e)
{
throw new PlanNotFoundException(this, maxPlanLength, goal, e);
}
}
public Plan FormulatePlan(
IKnowledgeProvider knowledgeProvider,
HashSet <PlanningAction> availableActions,
Goal goal
)
{
var timer = new StopwatchExecutionTimer();
var allActions = new HashSet <PlanningAction>();
allActions.UnionWith(availableActions);
allActions.UnionWith(experienceActions.Where(experienceAction =>
availableActions.IsSupersetOf(experienceAction.Actions)));
var initialWorldState = new RelevantSymbolsPopulator(allActions, goal)
.PopulateWorldState(knowledgeProvider);
var goalConstraints = new RegressiveStatePopulator().Populate(goal);
try
{
var path = pathfinder.FindPath(
RegressiveNode.MakeRegular(
goalConstraints,
initialWorldState,
new RegressiveNodeExpander(allActions)
),
RegressiveNode.MakeTarget(initialWorldState)
);
if (learning)
{
var beforeLearning = timer.ElapsedSeconds;
Learn(path, initialWorldState);
UnityEngine.Debug.Log(
$"Learning time: {timer.ElapsedSeconds-beforeLearning}");
}
return(new Plan(from edge in path.Edges.Reverse() select((RegressiveEdge)edge).Action, goal));
}
catch (PathNotFoundException e)
{
throw new PlanNotFoundException(this, maxPlanLength, goal, e);
}
}
private static double PathfindingHeuristic(RegressiveNode sourceNode, RegressiveNode targetNode)
{
DebugUtils.Assert(!sourceNode.IsTarget, "sourceNode must not be a target {0}", typeof(RegressiveNode));
DebugUtils.Assert(targetNode.IsTarget, "targetNode must be a target {0}", typeof(RegressiveNode));
// Heuristic value is the sum of distances between
// constraint ranges and corresponding values in the initial state.
return(sourceNode.CurrentConstraints
.Sum((kvp) => kvp.Value.AbsDistanceFrom(targetNode.InitialState[kvp.Key])));
// var result = sourceNode.CurrentConstraints
// .Sum((kvp) => kvp.Value.AbsDistanceFrom(targetNode.InitialState[kvp.Key]));
// UnityEngine.Debug.LogFormat(
// "h = {0} for node w/ {1} constraints. ({2}) and initial state {3} ",
// result,
// sourceNode.CurrentConstraints.Count(),
// sourceNode.CurrentConstraints,
// targetNode.InitialState
// );
// return result;
}
