void RunAITest(void)
{
AI::Brain::Ptr brain(new AI::Brain);
// 1. Note that parts are implicitly created.
// 2. Set up actions.
// Set up Move action.
// Post conditions are NOT required, because they are only used to
// add influence to an action based on the possibility that they will lead to a goal.
// TODO: Passing the brain to the action suggests the brain should
// control creating the action...
Monkey_Action move("Move", brain);
// For an action to be available, the current actor state must have the same values for the parts listed.
move.pre("ToBox", "MonkeyAndBox", "Away"); // Pre-Condition -> Part, Value
move.post("ToBox", "MonkeyAndBox", "NextTo"); // Post-Condition -> Part, Value
move.pre("FromBox", "MonkeyAndBox", "NextTo");
move.post("FromBox", "MonkeyAndBox", "Away");
// Set up Push action
Monkey_Action pushBox("PushBox", brain);
pushBox.pre("UnderBannanas", "MonkeyAndBox", "NextTo"); // Pre-Condition -> Part, Value
pushBox.pre("UnderBannanas", "BoxUnderBannanas", "F"); // -> Part, Value
pushBox.post("UnderBannanas", "BoxUnderBannanas", "T");
pushBox.pre("NotUnder", "MonkeyAndBox", "NextTo");
pushBox.pre("NotUnder", "BoxUnderBannanas", "T");
pushBox.post("NotUnder", "BoxUnderBannanas", "F");
// Set up Climb action
Monkey_Action climbBox( "ClimbBox", brain );
climbBox.pre("Up", "MonkeyAndBox", "NextTo");
climbBox.post("Up", "MonkeyAndBox", "OnBox");
climbBox.pre("Down", "MonkeyAndBox", "OnBox" );
climbBox.post("Down", "MonkeyAndBox", "NextTo" );
// Set up Take action
Monkey_Action takeBannanas( "TakeBannanas", brain );
takeBannanas.pre("Yum", "MonkeyAndBox", "OnBox" );
takeBannanas.pre("Yum", "BoxUnderBannanas","T");
takeBannanas.post("Yum", "HasBannanas", "T");
// 3. Setup an actor.
AI::Actor monkey(brain);
// Give the actor actions it can perform.
monkey.addAction( &move );
monkey.addAction( &pushBox );
monkey.addAction( &climbBox );
monkey.addAction( &takeBannanas );
const int ITERATIONS = 1;
float avg = 0.0f;
for ( int i = 0; i < ITERATIONS; ++i )
{
// Set the actor's current state part values.
monkey.currentValue("BoxUnderBannanas", "F");
monkey.currentValue("HasBannanas", "F");
monkey.currentValue("MonkeyAndBox", "Away");
// Set the actor's current goal.
AI::Actor::Goal getBannanas;
getBannanas.influence(10.0f);
getBannanas.state().setValue(brain->part("HasBannanas"), "T");
monkey.addGoal(getBannanas);
int actions = 0;
AI::Action::Outcome outcome = AI::Action::Impossible;
do
{
actions ++;
outcome = monkey.getAction()->perform(monkey);
} while(outcome != AI::Action::Impossible && monkey.goalsSatisfied().size() == 0);
assert(monkey.goalsSatisfied().size() == 1);
avg += actions;
}
AI::Output::Out() << "Actions: " << avg / ITERATIONS << AI::Output::endl();
}
void getCuts(const snowgoose::Box<FT>& box, std::vector<std::shared_ptr <Cut <FT> > >& v) const {
const int n = mBox.mDim;
snowgoose::Box<FT> nbox(n);
snowgoose::BoxUtils::copy(box, nbox);
FT r;
auto comp = [&] () {
snowgoose::BoxUtils::getCenter(nbox, (FT*) mX);
r = snowgoose::BoxUtils::radius(nbox);
mF.hess(mX, mH);
mHessSupp.getLpzConst(box, mLH);
};
comp();
std::vector< snowgoose::Box<FT> > boxv;
boxv.push_back(nbox);
bool savecut = false;
for (int i = 0; i < n; i++) {
int ii = i + i * n;
FT lb = mH[ii] - r * mLH[ii];
FT ub = mH[ii] + r * mLH[ii];
if (ub < -mDelta) {
savecut = true;
std::vector< snowgoose::Box<FT> > nbx;
while (!boxv.empty()) {
snowgoose::Box<FT> bx = boxv.back();
boxv.pop_back();
if (bx.mA[i] == mBox.mA[i]) {
snowgoose::Box<FT> bxa(bx);
bxa.mB[i] = bxa.mA[i];
nbx.push_back(bxa);
}
if (bx.mB[i] == mBox.mB[i]) {
snowgoose::Box<FT> bxb(bx);
bxb.mA[i] = bxb.mB[i];
nbx.push_back(bxb);
}
}
boxv = std::move(nbx);
} else {
}
if (boxv.empty()) {
auto tc = new TotalCut <FT> (box);
std::shared_ptr< Cut<FT> > pc(tc);
v.push_back(pc);
break;
}
}
if (savecut) {
auto savebox = new NUC::SaveBoxCut<double>(box);
for (auto b : boxv) {
savebox->pushBox(b);
}
std::shared_ptr< NUC::Cut<FT> > pc(savebox);
v.push_back(pc);
}
/*
r = 0;
for (int i = 0; i < n; i++) {
FT nr = 0;
if (mLH[i] == 0)
continue;
if (mH[i] >= mDelta) {
nr = (mH[i] - mDelta) / mLH[i];
} else if (mH[i] <= -mDelta) {
nr = -(mH[i] + mDelta) / mLH[i];
}
if (nr > r)
r = nr;
}
std::cout << "r = " << r << "\n";
*/
#if 0
if (r > 0) {
auto exballcut = new NUC::ExcludeBallCut<FT>(nbox, r, mX);
std::shared_ptr< NUC::Cut<FT> > pc(exballcut);
v.push_back(pc);
}
#endif
}
