Examples of graphplan.flyweight.OperatorFactory

graphplan.flyweight.OperatorFactory
A factory class to be used in the creation and maintenance of operators for our planning system using the flyweight pattern. XXX It may have to be modified if multiple instances of the planner are to be used @author Felipe Meneguzzi

   * @return        The minimum set of propositions that must be true before execution
   */
  public List<Proposition> getPlanPreconditions(List<String> plan, DomainDescription description) {
    // XXX This variable has been placed here to give us a slight speed up and to ease debug
    // XXX But this might not be a good idea if we try and change the singleton at runtime
    OperatorFactory operatorFactory = OperatorFactory.getInstance();
    
    for(Iterator<Operator> iter = description.getOperators().iterator(); iter.hasNext(); ) {
      try {
        //OperatorFactory.getInstance().addOperatorTemplate(iter.next());
        operatorFactory.addOperatorTemplate(iter.next());
      } catch (OperatorFactoryException e) {
        // TODO Auto-generated catch block
        e.printStackTrace();
      }
    }
    
    Operator concreteOperators[] = new Operator[plan.size()];
    
    //First, get operator instances corresponing to the operator invocations
    //in the parameter
    for (int i = 0; i < concreteOperators.length; i++) {
      try {
        //concreteOperators[i] = OperatorFactory.getInstance().getOperator(plan.get(i));
        concreteOperators[i] = operatorFactory.getOperator(plan.get(i));
      } catch (OperatorFactoryException e) {
        // TODO Auto-generated catch block
        e.printStackTrace();
      }
    }

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  public LevelGeneratorImpl(Map<String, Set<String>> types, Map<String, List<String>> parameterTypes){
    this.types = types;
    this.parameterTypes = parameterTypes;
    this.usingTypes = true;
    // Felipe: Moved the code here
    OperatorFactory opFactory = OperatorFactory.getInstance();
    opFactory.setTypes(this.types);
    opFactory.setParameterTypes(this.parameterTypes);
  }

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    opFactory.setParameterTypes(this.parameterTypes);
  }
  
  public LevelGeneratorImpl(){
    if (usingTypes) {
      OperatorFactory opFactory = OperatorFactory.getInstance();
      opFactory.setTypes(this.types);
      opFactory.setParameterTypes(this.parameterTypes);
    }    
  }

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   */
  @Override
  public ActionLevel createNextActionLevel(PropositionLevel propositionLevel) throws PlanningGraphException {
    final ActionLevel actionLevel = new ActionLevel();
    
    final OperatorFactory opFactory = OperatorFactory.getInstance();


    final HashSet<Operator> opTemplateSet = new HashSet<Operator>();
    final Set<Operator> opSet = new HashSet<Operator>();
    final ArrayList<Proposition> preconds = new ArrayList<Proposition>();
    
    //TODO Change this to scan by operator rather than by proposition
    
    // For every proposition
    for (Proposition proposition : propositionLevel) {
      final List<Operator> templates;
      //Gather potential operator templates
      templates = opFactory.getRequiringOperatorTemplates(proposition);
      opTemplateSet.addAll(templates);
      //Add all noops
      opSet.add(opFactory.getNoop(proposition));
      //And prepare the list of preconditons for later
      preconds.add(proposition);
    }
    
    // XXX Why the hell do we use a null parameter here?
    opTemplateSet.addAll(opFactory.getRequiringOperatorTemplates(null));


    /*for (Proposition proposition : propositionLevel) {
      preconds.add(proposition);
    }*/
    
    //Piece of crap algorithm used before has been replaced by this call
    
    try {
      opSet.addAll(opFactory.getAllPossibleInstantiations(new ArrayList<Operator>(opTemplateSet), preconds));
    } catch (OperatorFactoryException e) {
      throw new PlanningGraphException(e.getMessage(),propositionLevel.getIndex()+1);
    }
    
    for (Operator operator : opSet) {

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  @SuppressWarnings("rawtypes")
  @Override
  public ActionLevel createNextActionLevel(PropositionLevel propositionLevel, GraphLevel initialState) throws PlanningGraphException {
    final ActionLevel actionLevel = new ActionLevel();
    
    final OperatorFactory opFactory = OperatorFactory.getInstance();


    final HashSet<Operator> opTemplateSet = new HashSet<Operator>();
    final Set<Operator> opSet = new HashSet<Operator>();
    final ArrayList<Proposition> preconds = new ArrayList<Proposition>();
    
    // For every proposition
    for (Proposition proposition : propositionLevel) {
      final List<Operator> templates;
      //Gather potential operator templates
      templates = opFactory.getRequiringOperatorTemplates(proposition);
      opTemplateSet.addAll(templates);
      //Add all noops
      opSet.add(opFactory.getNoop(proposition));
      //And prepare the list of preconditons for later
      preconds.add(proposition);
    }
    
    opTemplateSet.addAll(opFactory.getRequiringOperatorTemplates(null));


    try {
      if(this.isUsingTypes())  {
        opFactory.setTypes(this.getTypes());
        opFactory.setParameterTypes(this.getParameterTypes());
        opSet.addAll(opFactory.getAllPossibleInstantiations(new ArrayList<Operator>(opTemplateSet), preconds, initialState));
      } else opSet.addAll(opFactory.getAllPossibleInstantiations(new ArrayList<Operator>(opTemplateSet), preconds));
    } catch (OperatorFactoryException e) {
      throw new PlanningGraphException(e.getMessage(),propositionLevel.getIndex()+1);
    }
    
    for (Operator operator : opSet) {

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    this.mutexesTable.put(op1.getFunctor(), mutexOp);
  }


  private Set<Operator> getNoops(List<Operator> operators){
    Set<Operator> noops = new HashSet<Operator>();
    OperatorFactory opFac = OperatorFactory.getInstance();
    
    for (Operator operator : operators) {
      for (Proposition effect : operator.getEffects()) {
        noops.add(opFac.getNoop(effect));
      }
      for (Proposition precond : operator.getPreconds()) {
        noops.add(opFac.getNoop(precond));
      }
    }
    return noops;
  }

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    initialState.addProposition(proposition);
    Proposition proposition2 = PropositionFactory.getInstance()
        .getProposition("~at(a)");
    initialState.addProposition(proposition2);


    OperatorFactory operatorFactory = OperatorFactory.getInstance();
    Operator operTemplate = operatorFactory.createOperatorTemplate("move(A,B)",
        new String[] { "~at(B)", "at(A)" }, 
        new String[] { "at(B)", "~at(A)" });
    
    operatorFactory.addOperatorTemplate(operTemplate);
    
    planningGraph = new PlanningGraph(initialState);
    
    ActionLevel actionLevel = new ActionLevel();
    Operator operator = null;

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Related Classes of graphplan.flyweight.OperatorFactory

graphplan.domain.jason.OperatorImpl

graphplan.domain.jason.PropositionImpl

graphplan.graph.algorithm.impl.LevelGeneratorClosedWorldAssumptionImpl

graphplan.graph.algorithm.impl.LevelGeneratorImpl

graphplan.graph.draw.GraphDrawVisitorTest

graphplan.graph.memo.mutexes.StaticMutexesTable

graphplan.graph.PropositionLevel

graphplan.Graphplan

jason.asSemantics.Unifier

jason.asSyntax.Literal

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