public bool IsGoalTest(CondPlan plan)
{
if (plan.ResultStates == null)
return IsGoalTest(plan.CurrentPosition);
foreach (var gNode in plan.ResultStates.Where(x => !plan.Next.CurrentPosition.Equals(x)))
{
if (!IsGoalTest(gNode))
return false;
}
return IsGoalTest(plan.Next);
}
public bool IsGoalTest(CondPlan plan)
{
if (plan.ResultStates == null)
{
return(IsGoalTest(plan.CurrentPosition));
}
foreach (var gNode in plan.ResultStates.Where(x => !plan.Next.CurrentPosition.Equals(x)))
{
if (!IsGoalTest(gNode))
{
return(false);
}
}
return(IsGoalTest(plan.Next));
}
/// <summary>
/// this is an example of a <see cref="CondPlan"/> based on Fig. 4.10
/// </summary>
public CondPlan Example()
{
var firstStep = new CondPlan
{
CurrentPosition = InitState,
Action = new Suck(),
Next = null,
ResultStates =
new List<IState>
{
GetPositionById(7),
GetPositionById(5)
}
};
var secondStep = new CondPlan
{
CurrentPosition = GetPositionById(5),
Action = new Right(),
Next = firstStep,
ResultStates =
new List<IState>
{
GetPositionById(6)
}
};
return new CondPlan
{
CurrentPosition = GetPositionById(6),
Action = new Suck(),
Next = secondStep,
ResultStates =
new List<IState>
{
GetPositionById(8)
}
};
}