mirror of
https://github.com/RAIRLab/Spectra.git
synced 2024-11-08 10:40:37 -05:00
Changed parameters to optionals for BFS
This commit is contained in:
parent
3d01e065a6
commit
24a85a482f
1 changed files with 15 additions and 8 deletions
|
@ -13,9 +13,9 @@ import org.apache.commons.lang3.tuple.Pair;
|
|||
public class BreadthFirstPlanner {
|
||||
|
||||
// The longest plan to search for, -1 means no bound
|
||||
private int MAX_DEPTH = -1;
|
||||
private Optional<Integer> MAX_DEPTH = Optional.empty();
|
||||
// Number of plans to look for, -1 means up to max_depth
|
||||
private int K = -1;
|
||||
private Optional<Integer> K = Optional.empty();
|
||||
|
||||
public BreadthFirstPlanner(){ }
|
||||
|
||||
|
@ -37,7 +37,7 @@ public class BreadthFirstPlanner {
|
|||
// - No more actions can be applied
|
||||
// - Max depth reached
|
||||
// - Found K plans
|
||||
while (!search.isEmpty() && !(K > 0 && plansFound.size() >= K)) {
|
||||
while (!search.isEmpty()) {
|
||||
|
||||
Pair<List<State>, List<Action>> currentSearch = search.remove();
|
||||
List<State> previous_states = currentSearch.getLeft();
|
||||
|
@ -46,13 +46,16 @@ public class BreadthFirstPlanner {
|
|||
|
||||
// Exit loop if we've passed the depth limit
|
||||
int currentDepth = previous_actions.size();
|
||||
if (MAX_DEPTH > 0 && currentDepth > MAX_DEPTH) {
|
||||
if (MAX_DEPTH.isPresent() && currentDepth > MAX_DEPTH.get()) {
|
||||
break;
|
||||
}
|
||||
|
||||
// If we're at the goal return
|
||||
if (Operations.satisfies(background, lastState, goal)) {
|
||||
plansFound.add(new Plan(previous_actions, previous_states, background));
|
||||
if (K.isPresent() && plansFound.size() >= K.get()) {
|
||||
break;
|
||||
}
|
||||
continue;
|
||||
}
|
||||
|
||||
|
@ -101,19 +104,23 @@ public class BreadthFirstPlanner {
|
|||
return plansFound;
|
||||
}
|
||||
|
||||
public int getMaxDepth() {
|
||||
public Optional<Integer> getMaxDepth() {
|
||||
return MAX_DEPTH;
|
||||
}
|
||||
|
||||
public void setMaxDepth(int maxDepth) {
|
||||
MAX_DEPTH = maxDepth;
|
||||
MAX_DEPTH = Optional.of(maxDepth);
|
||||
}
|
||||
|
||||
public void setK(int k) {
|
||||
K = k;
|
||||
K = Optional.of(k);
|
||||
}
|
||||
|
||||
public int getK() {
|
||||
public void clearK() {
|
||||
K = Optional.empty();
|
||||
}
|
||||
|
||||
public Optional<Integer> getK() {
|
||||
return K;
|
||||
}
|
||||
|
||||
|
|
Loading…
Reference in a new issue