Package FAtiMA.Core.plans

Class Plan

  • All Implemented Interfaces:
    java.io.Serializable, java.lang.Cloneable
    public class Plan
extends java.lang.Object
implements java.lang.Cloneable, java.io.Serializable
    Represents a plan and implements part of its functionality
    Author:
    Joao Dias
    See Also:
    Serialized Form

    • Constructor Detail

      • Plan

        protected Plan()

    • Method Detail

      • AddBindingConstraint

        public void AddBindingConstraint​(Substitution bind)
        Adds a binding constraint to the plan of the form [X]/John or [X]/[X23] or [X]!=Luke
        Parameters:
        bind - - the binding constraint to add (Substitution)
        See Also:
        Substitution

      • AddBindingConstraints

        public void AddBindingConstraints​(java.util.ArrayList<Substitution> substs)
        Adds a set of binding constraint to the plan of the form [X]/John or [X]/[X23] or [X]!=Luke
        Parameters:
        substs - - a list of binding constraints to add (Substitutions)
        See Also:
        Substitution

      • AddLink

        public void AddLink​(CausalLink l)
        Adds a CausalLink of the Form A--p-->B to the Plan
        Parameters:
        l - - the CausalLink to add
        See Also:
        CausalLink

      • AddOrderingConstraint

        public void AddOrderingConstraint​(OrderingConstraint order)
        Adds an Ordering Constraint of the Type A > B
        Parameters:
        order - - the OrderConstraint to add

      • AddOperator

        public void AddOperator​(IPlanningOperator op)
        Adds a new operator to the plan
        Parameters:
        op - - the operator to add

      • CheckProtectedConstraints

        public void CheckProtectedConstraints()
        Checks if any of the plan's operators has a conflict with a protected condition of an InterestGoal

      • CheckCausalConflicts

        public void CheckCausalConflicts()
        Checks if any of the plan's operators introduced a causal conflict with an existing CausalLink

      • Compare

        public int Compare​(IPlanningOperator op1,
                   IPlanningOperator op2)
        Compares two operators, taking into account the existing ordering constraints in the plan, and specifies which one must become after the other
        Parameters:
        op1 - - The left operator to compare
        op2 - - The right operator to compare
        Returns:
        Returns -1 if the operator op1 must become before op2, +1 if op1 must become after op2 and 0 if there is no ordering contraint between the two operators

      • Compare

        public int Compare​(java.lang.Integer op1,
                   java.lang.Integer op2)
        Compares two Operators, taking into account the existing ordering constraints in the plan, and specifies which one must become after the other
        Parameters:
        op1 - - The id of the left operator to compare
        op2 - - The id of the right operator to compare
        Returns:
        Returns -1 if the operator op1 must become before op2, +1 if op1 must become after op2 and 0 if there is no ordering contraint between the two operators

      • UpdatePlan

        public java.util.ArrayList<IPlanningOperator> UpdatePlan​(AgentModel am)
        Method that implements the Continuous Planner features. It is responsible for detecting if the plan is not consistent with the world state anymore, and to fix such continuous planning flaws. This method should be called whenever the world changes.

      • CheckRedundantStep

        public boolean CheckRedundantStep​(java.lang.Integer opID)
        Checks if a given Operator is redundant and not needed anymore, because the CausalLinks it establishes are not needed anymore.
        Parameters:
        opID - - the ID in the plan of the operator to remove
        Returns:
        true if the operator is redundant, false otherwise

      • clone

        public java.lang.Object clone()
        Clones this Plan, returning an equal hard copy. If the new plan is changed afterwards, the original plan remains the same.
        Overrides:
        clone in class java.lang.Object
        Returns:
        The plan's copy.

      • getID

        public int getID()

      • getFinish

        public Step getFinish()
        Gets the special Finish Step
        Returns:
        the Finish Step

      • getIgnoredConflicts

        public java.util.ArrayList<CausalConflictFlaw> getIgnoredConflicts()
        Gets a list of CausalConflicts ignored due to emotion-focused coping strategies (denial or whishfull thinking)
        Returns:
        an ArrayList with ignored CausalConflicts

      • getLinks

        public java.util.ArrayList<CausalLink> getLinks()
        Gets the plan CausalLinks
        Returns:
        an ArrayList with all the plan's CausalLinks

      • getOpenPreconditions

        public java.util.ArrayList<OpenPrecondition> getOpenPreconditions()
        Gets the plan's OpenPreconditions
        Returns:
        an ArrayList with all the plan's preconditions

      • debug

        public void debug()

      • getOrderingConstraints

        public java.util.ArrayList<OrderRelation> getOrderingConstraints()
        Gets the OrderConstraints or OrderRelations in the plan
        Returns:
        an ArrayList with OrderRelations between the distinct steps in the plan

      • getProbability

        public float getProbability​(AgentModel am)
        gets the plan's probability of success
        Returns:
        the plan's probability

      • getOperator

        public IPlanningOperator getOperator​(java.lang.Integer stepID)
        Gets the plan's operator who's ID is the received ID
        Parameters:
        stepID - - the ID of the Step in the plan to be searched
        Returns:
        the PlanningOperator that corresponds to the received ID

      • UpdateProbabilities

        public void UpdateProbabilities()
        Requests an explicit recalculation of a plan's probability. This method must be called whenever there is a change in a plan that may lead to different success probability

      • getStart

        public Step getStart()
        Gets the special Start Step
        Returns:
        the Start Step

      • getSteps

        public java.util.ArrayList<IPlanningOperator> getSteps()
        Gets all the plan's steps
        Returns:
        an ArrayList with all the plan's steps

      • getThreatenedInterestConstraints

        public java.util.ArrayList<GoalThreat> getThreatenedInterestConstraints()
        Gets the plan's threats to InterestGoals
        Returns:
        an ArrayList with the plan's GoalThreats to InterestGoals

      • h

        public float h​(AgentModel am)
        Gets a heuristic value H for the plan. Useful for comparing plans. The lowest value of H corresponds to the likely better plan to continue planning.
        Returns:
        the value H

      • IgnoreConflict

        public void IgnoreConflict​(AgentModel am,
                           CausalConflictFlaw flaw)
        Ignores a given CausalConflict. This corresponds to the Wishfull thinking/Denial emotion-focused coping strategy.
        Parameters:
        flaw - - the CausalConflictFlaw to ignore

      • isFinished

        public boolean isFinished()

      • isValid

        public boolean isValid()
        indicates if the plan is valid or not
        Returns:
        true if the plan is valid, i.e., it does not have unsolvable causal conflicts and cycles in the OrderRelations

      • NextFlaw

        public CausalConflictFlaw NextFlaw()
        Gets the next CausalConflictFlaw in the plan
        Returns:
        null if there are no CausalConflicts in the plan, otherwise it returns the next CausalConflict in the list

      • NumberOfSourceLinks

        public int NumberOfSourceLinks​(java.lang.Integer stepID)
        Gets the number of CausalLinks where the received Step participates as the Source for the CausalLink, i.e., the method determines how many CausalLinks the Step supports
        Parameters:
        stepID - - the ID of the step to calculate the result
        Returns:
        the number of CausalLinks that the step supports

      • RemoveOperator

        public void RemoveOperator​(java.lang.Integer operatorID)
        Removes an Operator from the plan
        Parameters:
        operatorID - - the ID of the operator to be removed

      • RemoveCausalLink

        public void RemoveCausalLink​(CausalLink link)
        Removes a CausalLink from the plan
        Parameters:
        link - - the link to be removed

      • RemoveCausalLinks

        public void RemoveCausalLinks​(java.lang.Integer stepID)
        Removes all the CausalLinks that protected a given step's preconditions
        Parameters:
        stepID - - the ID of the step that we want to remove the CausalLinks

      • RemoveOpenPreconditions

        public void RemoveOpenPreconditions​(java.lang.Integer stepID)
        Remove all OpenPreconditions referenced by a given Step
        Parameters:
        stepID - - the ID of the step that we want to remove its preconditions from the OpenPreconditions list

      • RemoveOrderingConstraint

        public void RemoveOrderingConstraint​(OrderingConstraint orderConstraint)
        Removes an OrderingConstraint between two steps (A > B) from the plan
        Parameters:
        orderConstraint - - The ordering constraint to remove

      • RemoveOrderingConstraints

        public void RemoveOrderingConstraints​(java.lang.Integer stepID)
        Removes all OrderingRelations refering to a given Step
        Parameters:
        stepID - - the ID of the step to remove from OrderRelations

      • toString

        public java.lang.String toString()
        Converts the plan to a String
        Overrides:
        toString in class java.lang.Object
        Returns:
        the converted String

      • UnexecutedAction

        public IPlanningOperator UnexecutedAction​(AgentModel am)
        Gets the next action that we must execute in the plan in order to achieve it
        Returns:
        the next action to execute

      • GetFirstActions

        public java.util.ArrayList<IPlanningOperator> GetFirstActions()
        Gets a list with the first actions in a plan - DO NOT USE this method if you want to execute the actions. Use it only to know which ones should be executed first. This is a simpler method that does not guarantee that you can indeed execute the action. If you want to execute an action, use the GetNextAction method instead
        Returns:
        a list with steps that are the first to be executed in a plan

      • AddOrderingConstraint

        public void AddOrderingConstraint​(java.lang.Integer before,
                                  java.lang.Integer after)
        Adds an Ordering Constraint of the Type A > B
        Parameters:
        before - - the id of the step A in A > B
        after - - the id of the step B in A > B

      • ReplaceUnboundVariables

        public void ReplaceUnboundVariables​(int variableID)