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EnforcedHillClimbingS.cs
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EnforcedHillClimbingS.cs
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using FlashPlanner.Core.Heuristics;
using PDDLSharp.Models.FastDownward.Plans;
namespace FlashPlanner.Core.Search
{
/// <summary>
/// Search algorithm based on <seealso href="https://www.cs.cmu.edu/afs/cs/project/jair/pub/volume28/coles07a-html/node5.html">Enforced Hill Climbing</seealso>
/// </summary>
public class EnforcedHillClimbingS : BaseHeuristicPlanner
{
/// <summary>
/// Main constructor
/// </summary>
/// <param name="heuristic"></param>
/// <param name="beta"></param>
public EnforcedHillClimbingS(IHeuristic heuristic) : base(heuristic)
{
}
internal override ActionPlan? Solve()
{
var bestH = uint.MaxValue;
while (!Abort && _openList.Count > 0)
{
var stateMove = ExpandBestState();
foreach (var opID in _context.ApplicabilityGraph[stateMove.Operator])
{
var op = _context.SAS.GetOperatorByID(opID);
if (Abort) break;
if (stateMove.State.IsApplicable(op))
{
var newMove = GenerateNewState(stateMove, op);
if (!IsVisited(newMove))
{
_closedList.Add(newMove);
if (newMove.State.IsInGoal())
{
QueueOpenList(stateMove, newMove, op);
return GeneratePlanChain(newMove);
}
var value = Heuristic.GetValue(stateMove, newMove.State, _context.SAS.Operators);
newMove.hValue = value;
if (value < bestH)
{
_openList.Clear();
QueueOpenList(stateMove, newMove, op);
bestH = value;
continue;
}
QueueOpenList(stateMove, newMove, op);
}
}
}
}
return null;
}
}
}