//
public static bool IsValid(Dictionary <Constant, PlanResult> plans)
{
List <PreconditionsAndEffectsAtTime> peatCollection = new List <PreconditionsAndEffectsAtTime>();
int latestTimeOperationObserved = 0;
// Collect all the preconditions and effects from all the agent's plans at each timestamp
foreach (var plan in plans)
{
Constant agent = plan.Key;
ConditionalPlanTreeNode cptn = plan.Value.Plan;
// get all actions
List <Action> actionsUsed = new List <Action>();
cptn.GetActionUsed(ref actionsUsed);
foreach (var a in actionsUsed)
{
int actionTime = a.GetTime();
Formula effects = a.Effects;
Formula preconditions = a.Preconditions;
PreconditionsAndEffectsAtTime peat = new PreconditionsAndEffectsAtTime();
peat.agent = agent;
peat.Time = actionTime;
peat.Effects = effects;
peat.Preconditions = preconditions;
peatCollection.Add(peat);
//Update latest operation time
latestTimeOperationObserved = Math.Max(latestTimeOperationObserved, actionTime);
}
}
// Create aggregated collection of effects over time
Dictionary <int, Formula> effectsCollection = new Dictionary <int, Formula>();
Dictionary <int, Formula> preconditionsCollection = new Dictionary <int, Formula>();
for (int i = 0; i <= latestTimeOperationObserved; i++)
{
// Get all effects at time i
CompoundFormula combinedEffects = new CompoundFormula("and");
foreach (var effFormula in peatCollection.FindAll(x => x.Time == i).Select(x => x.Effects).ToList())
{
combinedEffects.AddOperand(effFormula);
}
effectsCollection.Add(i, combinedEffects);
// Get all the preconditions at time i
CompoundFormula combinedPreconditions = new CompoundFormula("and");
foreach (var effFormula in peatCollection.FindAll(x => x.Time == i).Select(x => x.Preconditions).ToList())
{
combinedPreconditions.AddOperand(effFormula);
}
preconditionsCollection.Add(i, combinedPreconditions);
}
return(true);
}
private static List <Action> GenerateJointActionsListForSingleInitialState(PartiallySpecifiedState initialState, Dictionary <Constant, PlanResult> plans)
{
foreach (var agentPlan in plans)
{
Constant agent = agentPlan.Key;
PlanResult planResult = agentPlan.Value;
ConditionalPlanTreeNode cptn = planResult.Plan;
List <Action> actions = new List <Action>();
cptn.GetActionUsed(ref actions);
return(actions);
}
return(null);
}