Struct graphplan::plangraph::PlanGraph

pub struct PlanGraph {
    pub goals: HashSet<Proposition>,
    pub actions: HashSet<Action>,
    pub layers: Vec<Layer>,
    pub mutex_props: HashMap<usize, HashSet<PairSet<Proposition>>>,
    pub mutex_actions: HashMap<usize, HashSet<PairSet<Action>>>,
}

Fields

goals: HashSet<Proposition>

actions: HashSet<Action>

layers: Vec<Layer>

mutex_props: HashMap<usize, HashSet<PairSet<Proposition>>>

mutex_actions: HashMap<usize, HashSet<PairSet<Action>>>

Implementations

impl PlanGraph

pub fn new(
    initial_props: HashSet<Proposition>,
    goals: HashSet<Proposition>,
    actions: HashSet<Action>
) -> Self

pub fn push(&mut self, layer: Layer)

pub fn extend(&mut self)

Extends the plangraph to depth i+1 Inserts another action layer and proposition layer

pub fn depth(&self) -> usize

Returns the depth of the planning graph

pub fn actions_at_layer(&self, index: usize) -> Result<BTreeSet<Action>, String>

pub fn search_with<T>(&mut self, solver: &T) -> Option<Solution>where
    T: GraphPlanSolver,

Searches the planning graph for a solution using the solver if there is no solution, extends the graph to depth i+1 and tries to solve again

pub fn format_plan(solution: Option<Solution>) -> Option<Solution>

Takes a solution and filters out maintenance actions

Trait Implementations

impl Debug for PlanGraph

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.