int main()
{
int t = inp(), n, i, len;
char c, p;
while(t--)
{
for(i = 0; i <= 255; i++)
rule[i] = 0;
n = inp();
for(i = 0; i < n; i++)
{
c = gtc;
while(c < 33 || c > 126)
c = gtc;
p = gtc;
while(p < 33 || p > 126)
p = gtc;
rule[c] = p;
}
len = inpstr(str);
if(end < start)
ptc('0');
for(i = start; i <= end ; i++)
ptc(str[i]);
ptc('\n');
}
return 0;
}
bool ompl::control::LTLPlanner::explore(const std::vector<ProductGraph::State *> &lead, Motion *&soln, double duration)
{
bool solved = false;
base::PlannerTerminationCondition ptc = base::timedPlannerTerminationCondition(duration);
base::GoalPtr goal = pdef_->getGoal();
while (!ptc() && !solved)
{
ProductGraph::State *as = availDist_.sample(rng_.uniform01());
++abstractInfo_[as].numSel;
updateWeight(as);
PDF<Motion *> &motions = abstractInfo_[as].motions;
Motion *v = motions.sample(rng_.uniform01());
PDF<Motion *>::Element *velem = abstractInfo_[as].motionElems[v];
double vweight = motions.getWeight(velem);
if (vweight > 1e-20)
motions.update(velem, vweight / (vweight + 1.));
Control *rctrl = ltlsi_->allocControl();
controlSampler_->sampleNext(rctrl, v->control, v->state);
unsigned int cd =
controlSampler_->sampleStepCount(ltlsi_->getMinControlDuration(), ltlsi_->getMaxControlDuration());
base::State *newState = si_->allocState();
cd = ltlsi_->propagateWhileValid(v->state, rctrl, cd, newState);
if (cd < ltlsi_->getMinControlDuration())
{
si_->freeState(newState);
ltlsi_->freeControl(rctrl);
continue;
}
auto *m = new Motion();
m->state = newState;
m->control = rctrl;
m->steps = cd;
m->parent = v;
// Since the state was determined to be valid by SpaceInformation, we don't need to check automaton states
m->abstractState = ltlsi_->getProdGraphState(m->state);
motions_.push_back(m);
abstractInfo_[m->abstractState].addMotion(m);
updateWeight(m->abstractState);
// update weight if hl state already exists in avail
if (abstractInfo_[m->abstractState].pdfElem != nullptr)
availDist_.update(abstractInfo_[m->abstractState].pdfElem, abstractInfo_[m->abstractState].weight);
else
{
// otherwise, only add hl state to avail if it already exists in lead
if (std::find(lead.begin(), lead.end(), m->abstractState) != lead.end())
{
PDF<ProductGraph::State *>::Element *elem =
availDist_.add(m->abstractState, abstractInfo_[m->abstractState].weight);
abstractInfo_[m->abstractState].pdfElem = elem;
}
}
solved = goal->isSatisfied(m->state);
if (solved)
{
soln = m;
break;
}
}
return solved;
}
