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• AForwardDecompositionReducer.java

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ai.libs.jaicore.planning.hierarchical.algorithms.forwarddecomposition.AForwardDecompositionReducer Maven / Gradle / Ivy

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

import java.util.stream.Collectors;

import ai.libs.jaicore.planning.core.Plan;
import ai.libs.jaicore.planning.hierarchical.algorithms.forwarddecomposition.graphgenerators.ceociptfd.CEOCIPTFDGraphGenerator;
import ai.libs.jaicore.planning.hierarchical.algorithms.forwarddecomposition.graphgenerators.ceoctfd.CEOCTFDGraphGenerator;
import ai.libs.jaicore.planning.hierarchical.algorithms.forwarddecomposition.graphgenerators.tfd.TFDGraphGenerator;
import ai.libs.jaicore.planning.hierarchical.algorithms.forwarddecomposition.graphgenerators.tfd.TFDNode;
import ai.libs.jaicore.planning.hierarchical.problems.ceocipstn.CEOCIPSTNPlanningProblem;
import ai.libs.jaicore.planning.hierarchical.problems.ceocstn.CEOCSTNPlanningProblem;
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.STNPlanningProblem;
import ai.libs.jaicore.search.core.interfaces.GraphGenerator;
import ai.libs.jaicore.search.model.other.SearchGraphPath;
import ai.libs.jaicore.search.probleminputs.GraphSearchInput;

public abstract class AForwardDecompositionReducer, O2 extends SearchGraphPath> implements IHierarchicalPlanningToGraphSearchReduction {

	public GraphSearchInput getGraphSearchInput(final I1 planningProblem) {
		GraphGenerator graphGenerator;
		if (planningProblem instanceof CEOCIPSTNPlanningProblem) {
			graphGenerator = new CEOCIPTFDGraphGenerator((CEOCIPSTNPlanningProblem) planningProblem);
		} else if (planningProblem instanceof CEOCSTNPlanningProblem) {
			graphGenerator = new CEOCTFDGraphGenerator((CEOCSTNPlanningProblem) planningProblem);
		} else if (planningProblem.getClass().equals(STNPlanningProblem.class)) {
			graphGenerator = new TFDGraphGenerator(planningProblem);
		} else {
			throw new IllegalArgumentException("HTN problems of class \"" + planningProblem.getClass().getName() + "\" are currently not supported.");
		}
		return new GraphSearchInput<>(graphGenerator);
	}

	public Plan getPlanForSolution(final SearchGraphPath solution) {
		return new Plan(solution.getNodes().stream().filter(n -> n.getAppliedAction() != null).map(TFDNode::getAppliedAction).collect(Collectors.toList()));
	}
}