public override iThinkPlan progress(iThinkPlan Step, iThinkAction Action)
{
iThinkPlan NewStep = new iThinkPlan(Step);
List <iThinkAction> curActions;
curActions = NewStep.getPlanActions();
curActions.Add(Action);
NewStep.setState(Action.applyEffects(Step.getState()));
return(NewStep);
}
/*new progress function, where only the positive effects of actions will be applied */
public virtual iThinkPlan progressPositive(iThinkPlan Step, iThinkAction Action)
{
iThinkPlan NewStep = new iThinkPlan(Step);
List <iThinkAction> curActions;
curActions = NewStep.getPlanActions();
curActions.Add(Action);
NewStep.setState(Action.applyPositiveEffects(Step.getState()));
return(NewStep);
}
/*public int hFunction(iThinkState nextState, iThinkState GoalState, int area)
* {
* return base.hFunction(nextState, GoalState);
* }*/
public int hFunction(iThinkState nextState, iThinkState GoalState, int area)
{
//Debug.LogError(area);
iThinkState tempState = new iThinkState(GoalState);
iThinkState curState = new iThinkState(nextState);
for (int i = 0; i < depth; i++)
{
List <int> areas = new List <int>();
foreach (iThinkFact f in curState.getFactList())
{
if (f.getName() == "npc-at")
{
string name = f.getObj(0).name;
int a = Convert.ToInt32(name.Substring(4));
areas.Add(a);
}
tempState.delFact(f);
}
if (tempState.getFactList().Count == 0)
{
return(i);
}
///List<iThinkAction> applicableActions = getApplicable(curState, ((SimpleFPSActionManager)actionManager).getActions(-1) );
///List<iThinkAction> applicableActions = getApplicable(curState, ((SimpleFPSActionManager)actionManager).getActions(area) );
List <iThinkAction> allApplicableActions = new List <iThinkAction>();
foreach (int k in areas)
{
List <iThinkAction> applicableActions = getApplicable(curState, ((SimpleFPSActionManager)actionManager).getActions(k));
allApplicableActions.InsertRange(0, applicableActions);
}
iThinkPlan curStep = new iThinkPlan(curState);
foreach (iThinkAction act in allApplicableActions)
{
iThinkPlan nextStep = progressPositive(curStep, act);
//iThinkPlan nextStep = progress(curStep, act);
curStep = nextStep;
}
curState = curStep.getState();
}
//in case the planning graph has #layers = depth, return -1, indicating that no solution can be found starting from current state)
//consequenlty, the state will not be added in the fringe.
return(-1);
}
public bool forwardSearch( iThinkState InitialState, iThinkState GoalState, iThinkActionManager ActionManager)
{
iThinkPlan ReturnVal;
_OpenStates.Clear();
_VisitedStates.Clear();
iThinkPlan step = new iThinkPlan( InitialState );
_OpenStates.Add( step );
_VisitedStates.Add( step.getState() );
ReturnVal = SearchMethod( GoalState, ActionManager, _OpenStates, _VisitedStates );
if ( ReturnVal == null )
return false;
else if ( ReturnVal.hasPlan() )
return true;
return false;
}
public bool forwardSearchBounded(iThinkState InitialState, iThinkState GoalState, iThinkActionManager ActionManager, double timelimit, int retries = 3)
{
iThinkPlan ReturnVal;
_OpenStates.Clear();
_VisitedStates.Clear();
iThinkPlan step = new iThinkPlan(InitialState);
_OpenStates.Add(step);
_VisitedStates.Add(step.getState());
ReturnVal = SearchMethodBounded(GoalState, ActionManager, _OpenStates, _VisitedStates, timelimit);
if (ReturnVal == null)
{
return(false);
}
else if (compareStates(ReturnVal.getState(), GoalState))
{
return(true);
}
return(false);
}
public bool forwardSearch(iThinkState InitialState, iThinkState GoalState, iThinkActionManager ActionManager)
{
iThinkPlan ReturnVal;
_OpenStates.Clear();
_VisitedStates.Clear();
iThinkPlan step = new iThinkPlan(InitialState);
_OpenStates.Add(step);
_VisitedStates.Add(step.getState());
ReturnVal = SearchMethod(GoalState, ActionManager, _OpenStates, _VisitedStates);
if (ReturnVal == null)
{
return(false);
}
else if (ReturnVal.hasPlan())
{
return(true);
}
return(false);
}
public int hFunction(iThinkState nextState, iThinkState GoalState, int area)
{
//Debug.LogError(area);
iThinkState tempState = new iThinkState(GoalState);
iThinkState curState = new iThinkState(nextState);
for (int i=0 ; i<depth ; i++)
{
List<int> areas = new List<int>();
foreach (iThinkFact f in curState.getFactList())
{
if (f.getName() == "npc-at")
{
string name = f.getObj(0).name;
int a = Convert.ToInt32(name.Substring(4));
areas.Add(a);
}
tempState.delFact(f);
}
if (tempState.getFactList().Count == 0)
return i;
///List<iThinkAction> applicableActions = getApplicable(curState, ((SimpleFPSActionManager)actionManager).getActions(-1) );
///List<iThinkAction> applicableActions = getApplicable(curState, ((SimpleFPSActionManager)actionManager).getActions(area) );
List<iThinkAction> allApplicableActions = new List<iThinkAction>();
foreach (int k in areas)
{
List<iThinkAction> applicableActions = getApplicable(curState, ((SimpleFPSActionManager)actionManager).getActions(k) );
allApplicableActions.InsertRange(0, applicableActions);
}
iThinkPlan curStep = new iThinkPlan(curState);
foreach (iThinkAction act in allApplicableActions)
{
iThinkPlan nextStep = progressPositive(curStep, act);
//iThinkPlan nextStep = progress(curStep, act);
curStep = nextStep;
}
curState = curStep.getState();
}
//in case the planning graph has #layers = depth, return -1, indicating that no solution can be found starting from current state)
//consequenlty, the state will not be added in the fringe.
return -1;
}
public override iThinkPlan SearchMethod( iThinkState GoalState, iThinkActionManager ActionManager, List<iThinkPlan> OpenStates, List<iThinkState> VisitedStates )
{
int it = 0;
DateTime n1 = DateTime.Now;
iThinkPlan curStep, nextStep;
iThinkState CurrentState;
nodesVisited++;
actionManager = ActionManager;
List<iThinkAction> applicableActions;
if ( compareStates( OpenStates[0].getState(), GoalState ) )
{
Debug.Log( "Found Plan (HFS) - Already at goal state!" );
Plan.setPlan( OpenStates[0] );
repoFunct.completed=true;
return Plan;
}
//Debug.Log("Available actions: " + ActionManager.getActions().Count);
while ( OpenStates.Count != 0 )
{
curStep = new iThinkPlan( OpenStates[0] );
CurrentState = OpenStates[0].getState();
VisitedStates.Add( CurrentState );
OpenStates.RemoveAt( 0 );
int curArea = Convert.ToInt32(curStep.getState().getFactList().Find(item => item.getName().Equals("npc-at")).getObj(0).name.Substring(4));
if (curStep.getActionCount() < depth)
{
List<iThinkPlan> successors = new List<iThinkPlan>();
applicableActions = getApplicable( CurrentState, ((SimpleFPSActionManager)ActionManager).getActions(-1) );
///applicableActions = getApplicable( CurrentState, ((SimpleFPSActionManager)ActionManager).getActions(curArea) );
nodesExpanded++;
foreach ( iThinkAction action in applicableActions )
{
nextStep = progress( curStep, action );
if ( compareStates( nextStep.getState(), GoalState ) )
{
nodesVisited++;
Debug.Log( "Found Plan (H-DepthFS) " + nextStep.getActionCount() +
" (Nodes: "+nodesVisited+"/"+nodesExpanded+")");
Plan.setPlan( nextStep );
return Plan;
}
//if ( !VisitedStates.Contains(nextStep.getState()) ) {
int Cost = hFunction( nextStep.getState(), GoalState, curArea );
if (Cost != -1)
{
nextStep.getState().setCost( Cost );
successors.Add(nextStep);
nodesVisited++;
}
//}
}
successors.Sort( delegate( iThinkPlan obj1, iThinkPlan obj2 )
{
if ( obj1.getState().getCost() == obj2.getState().getCost() )
return 0;
else if ( obj1.getState().getCost() < obj2.getState().getCost() )
return -1;
else
return 1;
}
);
OpenStates.InsertRange(0, successors);
TimeSpan timediff = n1 - DateTime.Now;
if ( timediff.TotalSeconds > 60 )
return OpenStates[0];
++it;
}
else {
Debug.LogWarning("Depth Sucks!");
}
}
Debug.Log( "Didn't find Plan (H-DepthFS)" );
return null;
}
public override iThinkPlan SearchMethod(iThinkState GoalState, iThinkActionManager ActionManager, List <iThinkPlan> OpenStates, List <iThinkState> VisitedStates)
{
int it = 0;
nodesVisited = 0;
nodesExpanded = 0;
DateTime n1 = DateTime.Now;
iThinkPlan curStep, nextStep;
iThinkState CurrentState;
nodesVisited++;
actionManager = ActionManager;
List <iThinkAction> applicableActions;
if (compareStates(OpenStates[0].getState(), GoalState))
{
Debug.Log("Found Plan (HFS) - Already at goal state!");
Plan.setPlan(OpenStates[0]);
repoFunct.completed = true;
return(Plan);
}
//Debug.Log("Available actions: " + ActionManager.getActions().Count);
while (OpenStates.Count != 0)
{
curStep = new iThinkPlan(OpenStates[0]);
CurrentState = OpenStates[0].getState();
VisitedStates.Add(CurrentState);
OpenStates.RemoveAt(0);
int curArea = Convert.ToInt32(curStep.getState().getFactList().Find(item => item.getName().Equals("npc-at")).getObj(0).name.Substring(4));
if (curStep.getActionCount() == depth)
{
DateTime n2 = DateTime.Now;
TimeSpan interv = n2 - n1;
interval = ((int)interv.TotalMilliseconds / 100) / (double)10;
curStep.debugPrintPlan();
return(curStep);
}
if (curStep.getActionCount() < depth)
{
List <iThinkPlan> successors = new List <iThinkPlan>();
///applicableActions = getApplicable( CurrentState, ((SimpleFPSActionManager)ActionManager).getActions(-1) );
applicableActions = getApplicable(CurrentState, ((SimpleFPSActionManager)ActionManager).getActions(curArea));
nodesExpanded++;
foreach (iThinkAction action in applicableActions)
{
nextStep = progress(curStep, action);
if (compareStates(nextStep.getState(), GoalState))
{
nodesVisited++;
Debug.Log("Found Plan (H-DepthFS) " + nextStep.getActionCount() +
" (Nodes: " + nodesVisited + "/" + nodesExpanded + ")");
Plan.setPlan(nextStep);
return(Plan);
}
if (!VisitedStates.Contains(nextStep.getState()))
{
int Cost = hFunction(nextStep.getState(), GoalState, curArea);
if (Cost != -1)
{
nextStep.getState().setCost(Cost);
successors.Add(nextStep);
nodesVisited++;
}
}
}
successors.Sort(delegate(iThinkPlan obj1, iThinkPlan obj2)
{
if (obj1.getState().getCost() == obj2.getState().getCost())
{
return(0);
}
else if (obj1.getState().getCost() < obj2.getState().getCost())
{
return(-1);
}
else
{
return(1);
}
}
);
OpenStates.InsertRange(0, successors);
/*TimeSpan timediff = n1 - DateTime.Now;
* if ( timediff.TotalSeconds > 60 )
* return OpenStates[0];*/
++it;
}
else
{
}
}
Debug.Log("Didn't find Plan (H-DepthFS)");
return(null);
}
public override iThinkPlan SearchMethod(iThinkState GoalState, iThinkActionManager ActionManager,
List <iThinkPlan> OpenStates, List <iThinkState> VisitedStates)
{
int it = 0;
actionManager = ActionManager;
iThinkPlan curStep, nextStep;
iThinkState CurrentState = null;
List <iThinkPlan> stateList = null;
nodesVisited++;
while (OpenStates.Count != 0)
{
List <iThinkAction> applicableActions = new List <iThinkAction>();
stateList = new List <iThinkPlan>();
curStep = new iThinkPlan(OpenStates[0]);
CurrentState = OpenStates[0].getState();
VisitedStates.Add(CurrentState);
/*
* for ( int i = 0 ; i < ((SimpleFPSActionManager)ActionManager).totalAreas ; i++ )
* foreach (iThinkAction a in ((SimpleFPSActionManager)ActionManager).getActions(i))
* a.ToStringLite();
*/
OpenStates.RemoveAt(0);
if (curStep.getActionCount() < depth)
{
applicableActions = getApplicable(curStep.getState(), ((SimpleFPSActionManager)ActionManager).getActions(Convert.ToInt32(curStep.getState().getFactList().Find(item => item.getName().Equals("npc-at")).getObj(0).name.Substring(4))));
foreach (iThinkAction action in applicableActions)
{
nextStep = progress(curStep, action);
nodesVisited++;
if (compareStates(nextStep.getState(), GoalState))
{
nodesExpanded++;
Debug.Log("Found Plan (A* FS) after " + it + " iterations, of length " + nextStep.getPlanActions().Count + ", Nodes Expanded: " + nodesExpanded);
Plan.setPlan(nextStep);
repoFunct.completed = true;
return(Plan);
}
if (!VisitedStates.Contains(nextStep.getState()))
{
int Cost = hFunction(nextStep.getState(), GoalState);
Cost = Cost + nextStep.getPlanActions().Count;
nextStep.getState().setCost(Cost);
stateList.Add(nextStep);
nodesExpanded++;
}
}
OpenStates.AddRange(stateList);
OpenStates.Sort(delegate(iThinkPlan obj1, iThinkPlan obj2)
{
if (obj1.getState().getCost() == obj2.getState().getCost())
{
return(0);
}
else if (obj1.getState().getCost() < obj2.getState().getCost())
{
return(-1);
}
else
{
return(1);
}
}
);
++it;
}
}
Debug.Log("Didn't find Plan (A* FS)");
return(null);
}
public override iThinkPlan progress( iThinkPlan Step, iThinkAction Action )
{
iThinkPlan NewStep = new iThinkPlan( Step );
List<iThinkAction> curActions;
curActions = NewStep.getPlanActions();
curActions.Add( Action );
NewStep.setState( Action.applyEffects( Step.getState() ) );
return NewStep;
}
public override iThinkPlan SearchMethod ( iThinkState GoalState, iThinkActionManager ActionManager,
List<iThinkPlan> OpenStates, List<iThinkState> VisitedStates )
{
int it = 0;
actionManager = ActionManager;
iThinkPlan curStep, nextStep;
iThinkState CurrentState = null;
List<iThinkPlan> stateList = null;
nodesVisited++;
while ( OpenStates.Count != 0 )
{
List<iThinkAction> applicableActions = new List<iThinkAction>();
stateList = new List<iThinkPlan>();
curStep = new iThinkPlan( OpenStates[0] );
CurrentState = OpenStates[0].getState();
VisitedStates.Add(CurrentState);
/*
for ( int i = 0 ; i < ((SimpleFPSActionManager)ActionManager).totalAreas ; i++ )
foreach (iThinkAction a in ((SimpleFPSActionManager)ActionManager).getActions(i))
a.ToStringLite();
*/
OpenStates.RemoveAt( 0 );
if (curStep.getActionCount() < depth)
{
applicableActions = getApplicable( curStep.getState(), ((SimpleFPSActionManager)ActionManager).getActions( Convert.ToInt32(curStep.getState().getFactList().Find(item => item.getName().Equals("npc-at")).getObj(0).name.Substring(4))));
foreach ( iThinkAction action in applicableActions )
{
nextStep = progress( curStep, action );
nodesVisited++;
if ( compareStates( nextStep.getState(), GoalState ) )
{
nodesExpanded++;
Debug.Log( "Found Plan (A* FS) after " + it + " iterations, of length " + nextStep.getPlanActions().Count + ", Nodes Expanded: " + nodesExpanded);
Plan.setPlan( nextStep );
repoFunct.completed=true;
return Plan;
}
if ( !VisitedStates.Contains(nextStep.getState()) )
{
int Cost = hFunction( nextStep.getState(), GoalState );
Cost = Cost + nextStep.getPlanActions().Count;
nextStep.getState().setCost( Cost );
stateList.Add( nextStep );
nodesExpanded++;
}
}
OpenStates.AddRange( stateList );
OpenStates.Sort( delegate( iThinkPlan obj1, iThinkPlan obj2 )
{
if ( obj1.getState().getCost() == obj2.getState().getCost() )
return 0;
else if ( obj1.getState().getCost() < obj2.getState().getCost() )
return -1;
else
return 1;
}
);
++it;
}
}
Debug.Log( "Didn't find Plan (A* FS)" );
return null;
}
public bool forwardSearchBounded( iThinkState InitialState, iThinkState GoalState, iThinkActionManager ActionManager, double timelimit, int retries = 3)
{
iThinkPlan ReturnVal;
_OpenStates.Clear();
_VisitedStates.Clear();
iThinkPlan step = new iThinkPlan( InitialState );
_OpenStates.Add( step );
_VisitedStates.Add( step.getState() );
ReturnVal = SearchMethodBounded( GoalState, ActionManager, _OpenStates, _VisitedStates, timelimit );
if ( ReturnVal == null )
return false;
else if ( compareStates(ReturnVal.getState(), GoalState ) )
return true;
return false;
}
/*new progress function, where only the positive effects of actions will be applied */
public virtual iThinkPlan progressPositive( iThinkPlan Step, iThinkAction Action )
{
iThinkPlan NewStep = new iThinkPlan( Step );
List<iThinkAction> curActions;
curActions = NewStep.getPlanActions();
curActions.Add( Action );
NewStep.setState( Action.applyPositiveEffects( Step.getState() ) );
return NewStep;
}
public void setPlan( iThinkPlan plan ) {
state = new iThinkState(plan.getState());
actions = new List<iThinkAction>( plan.getPlanActions() );
}
public void setPlan(iThinkPlan plan)
{
state = new iThinkState(plan.getState());
actions = new List <iThinkAction>(plan.getPlanActions());
}