public override PlanSet CreatePlan(WorldState actual, Goal destiny)
{
PlanSet PlanSet = new PlanSet();
LinkedList <pathrec> processing = new LinkedList <pathrec>();
processing.AddLast(
new pathrec()
{
act = new List <Action>(),
WorldState = actual
}
);
int iter = 0;
pathrec current = null;
while (processing.Count != 0)
{
current = processing.First.Value;
processing.RemoveFirst();
if (destiny.Evaluate(current.WorldState) == true)
{
break;
}
List <Action> acts = new List <Action>();
foreach (var item in Actions)
{
if (item.GetPreConditions(current.WorldState).isCompatibleSource(current.WorldState))
{
if (item.ProceduralPreConditions(current.WorldState))
{
acts.Add(item);
}
}
}
foreach (var item in acts)
{
WorldState ws = current.WorldState.Clone();
foreach (var item2 in item.GetEffects(current.WorldState).GetSymbols())
{
ws.SetSymbol(item2.Clone());
}
item.ApplyEffects(ws);
System.Diagnostics.Debug.WriteLine(item.Name);
pathrec pathrec = new pathrec();
pathrec.WorldState = ws;
pathrec.act = new List <Action>(current.act.ToArray());
pathrec.act.Add(item);
processing.AddLast(pathrec);
}
System.Diagnostics.Debug.WriteLine("---START");
foreach (var item in processing)
{
System.Diagnostics.Debug.WriteLine("-<>-");
foreach (var item2 in item.act)
{
System.Diagnostics.Debug.WriteLine(item2.Name);
}
}
System.Diagnostics.Debug.WriteLine("---END");
iter++;
if (iter > MaxIteration)
{
return(null);
}
}
if (current != null)
{
foreach (var item in current.act)
{
PlanSet.Actions.Add(item);
System.Diagnostics.Debug.WriteLine(item.Name);
}
}
return(PlanSet);
}
public override PlanSet CreatePlan(WorldState actual, Goal destiny)
{
PlanSet PlanSet = new PlanSet();
LinkedList<pathrec> processing = new LinkedList<pathrec>();
processing.AddLast(
new pathrec()
{
act = new List<Action>(),
WorldState = actual
}
);
int iter = 0;
pathrec current = null;
while (processing.Count != 0)
{
current = processing.First.Value;
processing.RemoveFirst();
if (destiny.Evaluate(current.WorldState) == true)
break;
List<Action> acts = new List<Action>();
foreach (var item in Actions)
{
if (item.GetPreConditions(current.WorldState).isCompatibleSource(current.WorldState))
{
if (item.ProceduralPreConditions(current.WorldState))
{
acts.Add(item);
}
}
}
foreach (var item in acts)
{
WorldState ws = current.WorldState.Clone();
foreach (var item2 in item.GetEffects(current.WorldState).GetSymbols())
{
ws.SetSymbol(item2.Clone());
}
item.ApplyEffects(ws);
System.Diagnostics.Debug.WriteLine(item.Name);
pathrec pathrec = new pathrec();
pathrec.WorldState = ws;
pathrec.act = new List<Action>(current.act.ToArray());
pathrec.act.Add(item);
processing.AddLast(pathrec);
}
System.Diagnostics.Debug.WriteLine("---START");
foreach (var item in processing)
{
System.Diagnostics.Debug.WriteLine("-<>-");
foreach (var item2 in item.act)
{
System.Diagnostics.Debug.WriteLine(item2.Name);
}
}
System.Diagnostics.Debug.WriteLine("---END");
iter++;
if (iter > MaxIteration)
return null;
}
if (current != null)
{
foreach (var item in current.act)
{
PlanSet.Actions.Add(item);
System.Diagnostics.Debug.WriteLine(item.Name);
}
}
return PlanSet;
}
