// Generate tasklist from a node list
public Queue <string> generatetasklist(List <Modelisation.Node> l)
{
Queue <string> tasklist = new Queue <string>();
if (l.Count != 0)
{
Modelisation.Node node = l[l.Count - 1];
// While the node is not the root node, we add its lastaction to the tasklist
while (node.getLastAction() != "nothing")
{
tasklist.Enqueue(node.getLastAction());
node = node.getParent();
}
//tasklist.Enqueue(node.getLastAction());
}
return(tasklist);
}
private Queue <string> generateTasklist(Modelisation.Node ns, Modelisation.Node ng)
{
List <string> actions = new List <string>();
while (ns.getLastAction() != "root")
{
actions.Insert(0, ns.getLastAction());
ns = ns.getParent();
}
while (ng.getLastAction() != "goal")
{
actions.Add(ng.getLastAction());
ng = ng.getParent();
}
Queue <string> queue = new Queue <string>(actions);
return(queue);
}
public Dictionary <string, Modelisation.Node> retrosuccession(Modelisation.Node currentNode)
{
Dictionary <string, Modelisation.Node> newStates = new Dictionary <string, Modelisation.Node>();
Floor testingFloor = new Floor(currentNode.getState(), currentNode.getPathcost());
if (currentNode.getLastAction() == "nothing")
{
Modelisation.Node newnode = new Modelisation.Node(
testingFloor.getState(),
testingFloor.getAspXY(),
currentNode.getDepth() + 1,
//currentNode.getPathcost() + entry.Value.getCost(),
testingFloor.account(),
false,
"nothing",
currentNode
);
newStates.Add("nothing", newnode);
return(newStates);
}
foreach (KeyValuePair <string, Action> entry in actions)
{
entry.Value.reverse(testingFloor, testingFloor.getAspXY());
if (isArrayEqual(testingFloor.getState(), currentNode.getState()) && entry.Key != "nothing")
{
testingFloor.reset();
continue;
}
Modelisation.Node newnode = new Modelisation.Node(
testingFloor.getState(),
testingFloor.getAspXY(),
currentNode.getDepth() + 1,
//currentNode.getPathcost() + entry.Value.getCost(),
testingFloor.account(),
false,
entry.Key,
currentNode
);
newStates.Add(entry.Key, newnode);
testingFloor.reset();
}
return(newStates);
}