if(result.isTrue()) {
logger.info("Plan found:\n"+result.toString());
logger.info("Plan length: " + result.getPlanLength());
if(graphDrawFile != null) {
logger.info("Drawing planning graph to "+graphDrawFile);
DotGraphDrawVisitor drawVisitor = new DotGraphDrawVisitor();
if(graphplan.planningGraph.accept(drawVisitor)) {
PrintWriter writer = new PrintWriter(new File(graphDrawFile));
writer.println(drawVisitor.toString());
writer.flush();
writer.close();
}
}
} else {