public STRIPSNode(STRIPSNode previousAction, float actionCost, List <KeyValuePair <string, bool> > state, STRIPSAction action)
{
PreviousAction = previousAction;
ActionCost = actionCost;
State = state;
Action = action;
}
private void HandleSubplanning(List <STRIPSNode> plans, List <STRIPSAction> usableActions, List <KeyValuePair <string, bool> > goal, int level, Vector3 currentPosition, Spy spy,
STRIPSAction action, STRIPSNode planNode)
{
var actionsForSubplanning = usableActions.Except(new List <STRIPSAction>()
{
action
}).ToList();
GenerateAllPossiblePlans(planNode, plans, actionsForSubplanning, goal, level + 1, currentPosition, spy);
}
private static float CalculateActionCost(STRIPSNode parent, Vector3 currentPosition, STRIPSAction action)
{
var actionStartPosition = currentPosition;
if (parent != null && parent.Action != null && parent.Action.ActionTarget != null)
{
actionStartPosition = parent.Action.ActionTarget.transform.position;
}
float cost = action.CalculateCost(actionStartPosition);
return(cost);
}
private bool FindTheBestPlan(Spy spy, List <KeyValuePair <string, bool> > currentState, List <KeyValuePair <string, bool> > objectives,
List <STRIPSAction> usableActions, out STRIPSNode theBestPlan)
{
var plans = new List <STRIPSNode>();
var rootNode = new STRIPSNode(null, 0, currentState, null);
GenerateAllPossiblePlans(rootNode, plans, usableActions, objectives, 0, spy.transform.position, spy);
if (!plans.Any())
{
theBestPlan = null;
return(false);
}
theBestPlan = plans.OrderBy(p => p.ActionCost).First();
return(true);
}
private void GenerateAllPossiblePlans(STRIPSNode parent, List <STRIPSNode> plans, List <STRIPSAction> usableActions, List <KeyValuePair <string, bool> > goal, int level, Vector3 currentPosition, Spy spy)
{
var actionWithPreconditionsFulfilled =
usableActions.Where(a => ArePreconditionsFulfilled(a.Preconditions, parent.State));
foreach (var action in actionWithPreconditionsFulfilled)
{
HandleHideInBushAction(spy, action);
var simulatedCurrentState = SimulateCurrentStateAfterActionExecution(parent.State, action.Postconditions);
var cost = CalculateActionCost(parent, currentPosition, action);
var planNode = new STRIPSNode(parent, parent.ActionCost + cost, simulatedCurrentState, action);
if (ArePreconditionsFulfilled(goal, simulatedCurrentState))
{
plans.Add(planNode);
}
else
{
HandleSubplanning(plans, usableActions, goal, level, currentPosition, spy, action, planNode);
}
}
}
private void GenerateActionsToPerformQueue(Queue <STRIPSAction> actionsToPerformQueue, STRIPSNode node)
{
if (node.PreviousAction != null)
{
GenerateActionsToPerformQueue(actionsToPerformQueue, node.PreviousAction);
}
if (node.Action != null)
{
actionsToPerformQueue.Enqueue(node.Action);
}
}