ai.libs.jaicore.planning.hierarchical.algorithms.GraphSearchBasedHTNPlanningAlgorithm Maven / Gradle / Ivy

package ai.libs.jaicore.planning.hierarchical.algorithms;

import org.slf4j.Logger;

import ai.libs.jaicore.basic.algorithm.reduction.ReducingOptimizer;
import ai.libs.jaicore.planning.classical.problems.strips.Operation;
import ai.libs.jaicore.planning.core.EvaluatedSearchGraphBasedPlan;
import ai.libs.jaicore.planning.hierarchical.problems.htn.IHTNPlanningProblem;
import ai.libs.jaicore.planning.hierarchical.problems.htn.IHierarchicalPlanningToGraphSearchReduction;
import ai.libs.jaicore.planning.hierarchical.problems.stn.Method;
import ai.libs.jaicore.search.core.interfaces.IOptimalPathInORGraphSearchFactory;
import ai.libs.jaicore.search.model.other.EvaluatedSearchGraphPath;
import ai.libs.jaicore.search.probleminputs.GraphSearchInput;

/**
 *
 * @author fmohr
 *
 * @param 
 *            class of the HTN planning problem
 * @param 
 *            class of the graph search problem input to which the HTN problem is reduced
 * @param 
 *            class of the nodes in the search problem
 * @param 
 *            class of the edges in the search problem
 * @param 
 *            evaluation of solutions
 */
public class GraphSearchBasedHTNPlanningAlgorithm, N, A, V extends Comparable>
extends ReducingOptimizer, S, EvaluatedSearchGraphPath, V> {

	public GraphSearchBasedHTNPlanningAlgorithm(final P problem, final IHierarchicalPlanningToGraphSearchReduction, S, EvaluatedSearchGraphPath> problemTransformer,
			final IOptimalPathInORGraphSearchFactory searchFactory) {
		super(problem, problemTransformer, searchFactory);
	}

	@Override
	public void runPreCreationHook() {
		Logger logger = this.getLogger();
		logger.info("Starting HTN planning process.");
		if (logger.isDebugEnabled()) {
			StringBuilder opSB = new StringBuilder();
			for (Operation op : this.getInput().getDomain().getOperations()) {
				opSB.append("\n\t\t");
				opSB.append(op);
			}
			StringBuilder methodSB = new StringBuilder();
			for (Method method : this.getInput().getDomain().getMethods()) {
				methodSB.append("\n\t\t");
				methodSB.append(method);
			}
			logger.debug("The HTN problem is defined as follows:\n\tOperations:{}\n\tMethods:{}", opSB, methodSB);
		}
	}
}