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Changed parameters to optionals for BFS

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Brandon Rozek 2023-10-31 12:05:44 -04:00
parent 3d01e065a6
commit 24a85a482f
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1 changed files with 15 additions and 8 deletions
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23
src/main/java/com/naveensundarg/planner/BreadthFirstPlanner.java
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@ -13,9 +13,9 @@ import org.apache.commons.lang3.tuple.Pair;
public class BreadthFirstPlanner { public class BreadthFirstPlanner {
// The longest plan to search for, -1 means no bound // 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 // Number of plans to look for, -1 means up to max_depth
private int K = -1; private Optional<Integer> K = Optional.empty();
public BreadthFirstPlanner(){ } public BreadthFirstPlanner(){ }
@ -37,7 +37,7 @@ public class BreadthFirstPlanner {
// - No more actions can be applied // - No more actions can be applied
// - Max depth reached // - Max depth reached
// - Found K plans // - Found K plans
while (!search.isEmpty() && !(K > 0 && plansFound.size() >= K)) { while (!search.isEmpty()) {
Pair<List<State>, List<Action>> currentSearch = search.remove(); Pair<List<State>, List<Action>> currentSearch = search.remove();
List<State> previous_states = currentSearch.getLeft(); List<State> previous_states = currentSearch.getLeft();
@ -46,13 +46,16 @@ public class BreadthFirstPlanner {
// Exit loop if we've passed the depth limit // Exit loop if we've passed the depth limit
int currentDepth = previous_actions.size(); int currentDepth = previous_actions.size();
if (MAX_DEPTH > 0 && currentDepth > MAX_DEPTH) { if (MAX_DEPTH.isPresent() && currentDepth > MAX_DEPTH.get()) {
break; break;
} }
// If we're at the goal return // If we're at the goal return
if (Operations.satisfies(background, lastState, goal)) { if (Operations.satisfies(background, lastState, goal)) {
plansFound.add(new Plan(previous_actions, previous_states, background)); plansFound.add(new Plan(previous_actions, previous_states, background));
if (K.isPresent() && plansFound.size() >= K.get()) {
break;
}
continue; continue;
} }
@ -101,19 +104,23 @@ public class BreadthFirstPlanner {
return plansFound; return plansFound;
} }
public int getMaxDepth() { public Optional<Integer> getMaxDepth() {
return MAX_DEPTH; return MAX_DEPTH;
} }
public void setMaxDepth(int maxDepth) { public void setMaxDepth(int maxDepth) {
MAX_DEPTH = maxDepth; MAX_DEPTH = Optional.of(maxDepth);
} }
public void setK(int k) { 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; return K;
} }