edu.cmu.cs.coral.icf.plan_based.planners.pip
Class PIPPlan

java.lang.Object
  |
  +--edu.cmu.cs.coral.icf.plan_based.planners.Plan
        |
        +--edu.cmu.cs.coral.icf.plan_based.planners.pip.PIPPlan

public class PIPPlan

extends Plan

Represents a plan in the process of being generated.

Since:

ICF 0.0

Version:

$Id$

Field Summary

private HeadPlan	headPlan the head plan, i.e.
private TailPlan	tailPlan the tail plan, i.e.

Fields inherited from class edu.cmu.cs.coral.icf.plan_based.planners.Plan

actions

Constructor Summary

PIPPlan()
Constructs an empty plan.

Method Summary

java.util.Set	getApplicableOps() Gets the set of applicable ops.
void	initialize(PlannerDomain domain, PlannerProblem problem) Initializes the plan with a single goal consiting of the given literal.
boolean	tryGoalNodeExpansion(GoalNode goal_node, PlannerActionSchema op, ChangeTracker change_tracker) Expands the goal node given using the op provided if possible.
boolean	tryOpNodeExpansion(OpNode op_node, Binding binding, ChangeTracker change_tracker) Expands the op node given using the supplied binding if possible.
boolean	tryToApplyOp(ActionNode op, ChangeTracker change_tracker) Tries to apply the specified op in the plan
void	updateState(PlannerState state, PlannerAction action) Update the state by executing the action.

Methods inherited from class edu.cmu.cs.coral.icf.plan_based.planners.Plan

accessActions, getActions

Methods inherited from class java.lang.Object

, clone, equals, finalize, getClass, hashCode, notify, notifyAll, registerNatives, toString, wait, wait, wait

Field Detail

headPlan

private HeadPlan headPlan

the head plan, i.e. the sequence of actions applied so far

Since:

ICF 0.0

tailPlan

private TailPlan tailPlan

the tail plan, i.e. candidate actions to achieve goals

Since:

ICF 0.0

Constructor Detail

PIPPlan

public PIPPlan()

Constructs an empty plan.

Since:

ICF 0.0

Method Detail

initialize

public void initialize(PlannerDomain domain,
                       PlannerProblem problem)

Initializes the plan with a single goal consiting of the given literal.

Parameters:

done_literal - the single goal to achieve

Since:

ICF 0.0

tryToApplyOp

public boolean tryToApplyOp(ActionNode op,
                            ChangeTracker change_tracker)

Tries to apply the specified op in the plan

Parameters:

op - the applicable operator to try to apply

change_tracker - the change tracker to track changes to the plan with

Returns:

true on success, false on failure (state loop)

Since:

ICF 0.0

tryGoalNodeExpansion

public boolean tryGoalNodeExpansion(GoalNode goal_node,
                                    PlannerActionSchema op,
                                    ChangeTracker change_tracker)

Expands the goal node given using the op provided if possible.

Parameters:

goal_node - the node to expand

op - the operator to use or null to use the current state

change_tracker - the change tracker to track changes to the plan with

Returns:

true if node could be expanded, false otherwise

Since:

ICF 0.0

tryOpNodeExpansion

public boolean tryOpNodeExpansion(OpNode op_node,
                                  Binding binding,
                                  ChangeTracker change_tracker)

Expands the op node given using the supplied binding if possible.

Parameters:

op_node - the op node to expand

binding - the binding to use

change_tracker - the change tracker to track changes to the plan with

Returns:

true if node could be expanded, false otherwise

Since:

ICF 0.0

updateState

public void updateState(PlannerState state,
                        PlannerAction action)

Update the state by executing the action.

Parameters:

state - the state to update

action - the action to apply in the given state

Since:

ICF 0.0

getApplicableOps

public java.util.Set getApplicableOps()

Gets the set of applicable ops.

Returns:

the set of applicable ops

Since:

ICF 0.0