def generator(self, start_vertex, goal_connector, rg):
#yield # NOTE - include if don't want initial generation
vertex = rg.vertex(goal_connector.condition.substate)
vertex.connect(goal_connector)
variable, value = list(vertex.substate)[0]
for operator in self.operators:
if variable in operator.effects:
effect = operator.effects[variable]
if is_discrete_effect(effect) and effect.value == value:
rg.edge(operator).connect(vertex)
yield
def generator(self, start_vertex, goal_connector, rg):
#yield # NOTE - include if don't want initial generation
vertex = rg.vertex(goal_connector.condition.substate)
vertex.connect(goal_connector)
variable, value = list(vertex.substate)[0]
for operator in self.operators:
if variable in operator.effects:
effect = operator.effects[variable]
if is_discrete_effect(effect) and effect.value == value:
rg.edge(operator).connect(vertex)
yield
def __call__(self, start_vertex, goal_connector):
assert is_discrete_condition(goal_connector.condition)
vertex = self.rg.vertex(goal_connector.condition.substate)
vertex.connect(goal_connector)
variable, value = list(vertex.substate)[0]
for operator in self.operators:
if variable in operator.effects:
effect = operator.effects[variable]
if is_discrete_effect(effect) and effect.value == value:
self.rg.edge(operator).connect(vertex)
return []
def __call__(self, start_vertex, goal_connector):
assert is_discrete_condition(goal_connector.condition)
vertex = self.rg.vertex(goal_connector.condition.substate)
vertex.connect(goal_connector)
variable, value = list(vertex.substate)[0]
for operator in self.operators:
if variable in operator.effects:
effect = operator.effects[variable]
if is_discrete_effect(effect) and effect.value == value:
self.rg.edge(operator).connect(vertex)
return []
def __call__(self, start_vertex, goal_connector):
assert is_discrete_condition(goal_connector.condition)
vertex = self.rg.vertex(goal_connector.condition.substate)
vertex.connect(goal_connector)
variable, value = list(vertex.substate)[0]
subplanners = []
for operator in self.operators:
if variable in operator.effects:
effect = operator.effects[variable]
if is_discrete_effect(effect) and effect.value == value:
subplanners.append(DiscreteSubplanner([operator])(start_vertex, goal_connector, self.rg))
return subplanners
def __call__(self, start_vertex, goal_connector):
assert is_discrete_condition(goal_connector.condition)
vertex = self.rg.vertex(goal_connector.condition.substate)
vertex.connect(goal_connector)
variable, value = list(vertex.substate)[0]
subplanners = []
for operator in self.operators:
if variable in operator.effects:
effect = operator.effects[variable]
if is_discrete_effect(effect) and effect.value == value:
subplanners.append(
DiscreteSubplanner([operator])(start_vertex,
goal_connector,
self.rg))
return subplanners
