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Fix caching bug. Getting demo to work.

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This commit is contained in:
Naveen Sundar Govindarajulu 2017-01-24 15:40:51 -06:00
parent 5ec5169ae5
commit cdb9c455c8
4 changed files with 7 additions and 11 deletions
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2
src/main/java/edu/rpi/rair/DepthFirstPlanner.java
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@ -13,7 +13,7 @@ import java.util.stream.Collectors;
public class DepthFirstPlanner implements Planner {
private static int MAX_DEPTH = 4;
private static int MAX_DEPTH = 5;
private static boolean EXHAUSTIVE_TILL_MAX_DEPTH = false;
public static int getMaxDepth() {

2
src/main/java/edu/rpi/rair/Operations.java
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@ -67,7 +67,7 @@ public class Operations {
}).findAny();
if(cachedOptional.isPresent()){
if(cachedOptional.isPresent() && cachedOptional.get().getValue().isPresent()){
return cachedOptional.get().getValue();
}

7
src/main/java/edu/rpi/rair/utils/RunDemo.java
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@ -65,8 +65,7 @@ public class RunDemo {
long start = System.currentTimeMillis();
Goal g1 = goalTrackingProblem.getGoalNamed("G1");
Goal g2a = goalTrackingProblem.getGoalNamed("G2a");
Goal g2b = goalTrackingProblem.getGoalNamed("G2b");
Goal g2 = goalTrackingProblem.getGoalNamed("G2");
Goal g3 = goalTrackingProblem.getGoalNamed("G3");
Goal g4 = goalTrackingProblem.getGoalNamed("G4");
@ -74,8 +73,8 @@ public class RunDemo {
tryAndAddGoal(g1, goalTracker);
tryAndAddGoal(g2a, goalTracker);
tryAndAddGoal(g2b, goalTracker);
tryAndAddGoal(g2, goalTracker);
// tryAndAddGoal(g2b, goalTracker);
tryAndAddGoal(g3, goalTracker);

7
src/main/resources/edu/rpi/rair/goal_management_6.clj
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@ -157,16 +157,13 @@
:goals {G1 {:priority 1.0
:state [(not (open (door room1)))]}
G2a {:priority 1.0
G2 {:priority 1.0
:state [(in prisoner room1)]}
G2b {:priority 1.0
:state [(in guard room1)]}
G3 {:priority 1.0
:state [(sameroom guard prisoner)]}
G4 {:priority 2.1
G4 {:priority 2.0
:state [(accompanies prisoner commander)]}
}