public void Update(AINode newParent)
{
if (newParent.g + action.Cost < g)
{
parent = newParent;
SetNodeActionDetails();
}
}
private bool AchievesPrecondition(AINode node)
{
foreach (var effect in node.GetAction().GetEffects())
{
if (currentNode.GetState().GetPreconditions().ContainsKey(effect.Key) && currentNode.GetState().GetPreconditions()[effect.Key].Equals(effect.Value))
{
return(true);
}
}
return(false);
}
private AINode FindCheapestNode()
{
AINode cheapestNode = openNodes[0];
for (int i = 1; i < openNodes.Count; i++)
{
if (openNodes[i].GetFCost() < cheapestNode.GetFCost())
{
cheapestNode = openNodes[i];
}
}
return(cheapestNode);
}
private void InitialiseNodeLists(AIAgent agent, AIPlanner planner)
{
nullNodes = new List <AINode>();
openNodes = new List <AINode>();
closedNodes = new List <AINode>();
currentNode = new AINode(agent, planner);
closedNodes.Add(currentNode);
foreach (var action in agent.GetActions())
{
nullNodes.Add(new AINode(agent, planner, action));
}
}
private void InitialiseNodeLists(IAIAgent <L, V> agent, IAIGoal <L, V> goal)
{
nullNodes.Clear();
openNodes.Clear();
closedNodes.Clear();
currentNode = new AINode <L, V>(agent, goal);
closedNodes.Add(currentNode);
foreach (var action in agent.Actions.GetActions())
{
nullNodes.Add(new AINode <L, V>(agent, goal, action));
}
}
public Queue <AIAction> GetActionPlan()
{
Queue <AIAction> queue = new Queue <AIAction>();
while (currentNode.GetAction() != null)
{
queue.Enqueue(currentNode.GetAction());
currentNode = currentNode.GetParent();
}
Queue <AIAction> actionPlan = new Queue <AIAction>();
while (queue.Count > 0)
{
actionPlan.Enqueue(queue.Dequeue());
}
return(actionPlan);
}
public Queue <IAIAction <L, V> > GetActionPlan()
{
var queue = new Queue <IAIAction <L, V> >();
while (currentNode.GetAction() != null)
{
queue.Enqueue(currentNode.GetAction());
currentNode = currentNode.GetParent();
}
var actionPlan = new Queue <IAIAction <L, V> >();
while (queue.Count > 0)
{
actionPlan.Enqueue(queue.Dequeue());
}
return(actionPlan);
}
public bool FindActionPlan(AIAgent agent, AIPlanner planner)
{
InitialiseNodeLists(agent, planner);
while (!currentNode.ConditionsMet())
{
FindNeighbouringNodes();
if (openNodes.Count == 0)
{
return(false);
}
currentNode = FindCheapestNode();
closedNodes.Add(currentNode);
openNodes.Remove(currentNode);
}
return(true);
}
public AINode(AIAgent agent, AIPlanner planner, AIAction action = null, AINode parent = null)
{
this.agent = agent;
this.planner = planner;
this.action = action;
this.parent = parent;
if (action == null)
{
// This is a goal node
state = new AIState(planner.GetGoal(), agent.GetMemory().CloneState());
state.AddUnmetPreconditions(planner.GetGoal().GetConditions());
g = 0;
}
else
{
// Initialise Action node
state = new AIState();
g = float.MaxValue;
}
}
