ix.test
Class BlockStacker

java.lang.Object
  ix.test.BlockStacker

Direct Known Subclasses:

HtnBlockStacker, PrecondBlockStacker

public abstract class BlockStacker
extends java.lang.Object

A useful base class for classes that run block-stacking planning problems.

It contains methods for processing problem descriptions in a compact form:

A tower is a sequence of letters, each representing a block, listed from highest block to lowest. For example, "abc" is a tower with A on top of B on top of C, with C on the table.

A block-stacking problem is specified as initial-final where initial and final are comma-separated lists of towers. For example, "ca,b-abc" for the Sussman anomaly.

Field Summary

protected Domain	baseDomain
protected java.util.List<java.util.List<Symbol>>	finalTowers
protected java.util.List<java.util.List<Symbol>>	initialTowers
protected java.lang.String	problem
protected static Symbol	S_ACHIEVE
protected static Symbol	S_BLOCK
protected static Symbol	S_CLEARTOP
protected static Symbol	S_FALSE
protected static Symbol	S_ON
protected static Symbol	S_TABLE
protected static Symbol	S_TRUE
protected Slip	slip

Constructor Summary

BlockStacker(java.lang.String problem)

Method Summary

(package private) java.util.Set	allBlocks(java.util.List towerLists)
(package private) java.util.Set<Symbol>	blockSet(java.util.List<java.util.List<Symbol>> towers)
(package private) void	checkPattern(java.util.Map state, LList pattern, Symbol expectedValue, java.util.List incorrectPatterns)
void	checkPlan()
(package private) void	checkSameBlocks(java.util.List<java.util.List<Symbol>> towers1, java.util.List<java.util.List<Symbol>> towers2)
void	checkTowerState(java.util.Map state, java.util.List towers)
java.util.List	failedGoalPatterns(java.util.Map state)
void	findPlan()
protected abstract java.lang.String	getDefaultBaseDomainName()
java.util.List<java.util.List<Symbol>>	getFinalTowers()
java.util.List<java.util.List<Symbol>>	getInitialTowers()
Plan	getPlan()
protected abstract Refinement	goalStateRefinement(java.util.List finalTowers)
java.util.List	incorrectTowerPatterns(java.util.Map state, java.util.List towers)
Plan	initialPlan()
Plan	initialPlan(java.util.List initialTowers, java.util.List finalTowers)
protected Refinement	initialStateRefinement(java.util.List initialTowers)
void	parseTowers(java.lang.String problem)
(package private) LList	pattern(java.lang.String pat)
Domain	problemDomain()
Domain	problemDomain(java.util.List initialTowers, java.util.List finalTowers)
(package private) Refinement	problemTaskRefinement()
void	replan()
void	setBaseDomain(Domain dom)
protected void	setupForPlanning()
(package private) java.util.List<Symbol>	towerBlocks(java.lang.String towerDescription) Returns a list of symbols representing the blocks in a tower.
(package private) java.util.List	towerPatterns(java.util.List tower)
(package private) java.util.List<java.util.List<Symbol>>	towers(java.lang.String towerDescriptions) Returns a list of lists, one list per tower.
(package private) Constraint	worldEffect(LList pattern)

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

slip

protected Slip slip

initialTowers

protected java.util.List<java.util.List<Symbol>> initialTowers

finalTowers

protected java.util.List<java.util.List<Symbol>> finalTowers

problem

protected java.lang.String problem

baseDomain

protected Domain baseDomain

S_ACHIEVE

protected static final Symbol S_ACHIEVE

S_ON

protected static final Symbol S_ON

S_BLOCK

protected static final Symbol S_BLOCK

S_CLEARTOP

protected static final Symbol S_CLEARTOP

S_TABLE

protected static final Symbol S_TABLE

S_TRUE

protected static final Symbol S_TRUE

S_FALSE

protected static final Symbol S_FALSE

Constructor Detail

BlockStacker

public BlockStacker(java.lang.String problem)

Method Detail

getInitialTowers

public java.util.List<java.util.List<Symbol>> getInitialTowers()

getFinalTowers

public java.util.List<java.util.List<Symbol>> getFinalTowers()

setBaseDomain

public void setBaseDomain(Domain dom)

getDefaultBaseDomainName

protected abstract java.lang.String getDefaultBaseDomainName()

findPlan

public void findPlan()

replan

public void replan()

getPlan

public Plan getPlan()

setupForPlanning

protected void setupForPlanning()

checkPlan

public void checkPlan()

parseTowers

public void parseTowers(java.lang.String problem)

towers

java.util.List<java.util.List<Symbol>> towers(java.lang.String towerDescriptions)

Returns a list of lists, one list per tower.

towerBlocks

java.util.List<Symbol> towerBlocks(java.lang.String towerDescription)

Returns a list of symbols representing the blocks in a tower.

checkSameBlocks

void checkSameBlocks(java.util.List<java.util.List<Symbol>> towers1,
                     java.util.List<java.util.List<Symbol>> towers2)

blockSet

java.util.Set<Symbol> blockSet(java.util.List<java.util.List<Symbol>> towers)

initialPlan

public Plan initialPlan()

initialPlan

public Plan initialPlan(java.util.List initialTowers,
                        java.util.List finalTowers)

problemDomain

public Domain problemDomain()

problemDomain

public Domain problemDomain(java.util.List initialTowers,
                            java.util.List finalTowers)

problemTaskRefinement

Refinement problemTaskRefinement()

initialStateRefinement

protected Refinement initialStateRefinement(java.util.List initialTowers)

goalStateRefinement

protected abstract Refinement goalStateRefinement(java.util.List finalTowers)

pattern

LList pattern(java.lang.String pat)

allBlocks

java.util.Set allBlocks(java.util.List towerLists)

worldEffect

Constraint worldEffect(LList pattern)

towerPatterns

java.util.List towerPatterns(java.util.List tower)

checkTowerState

public void checkTowerState(java.util.Map state,
                            java.util.List towers)

failedGoalPatterns

public java.util.List failedGoalPatterns(java.util.Map state)

incorrectTowerPatterns

public java.util.List incorrectTowerPatterns(java.util.Map state,
                                             java.util.List towers)

checkPattern

void checkPattern(java.util.Map state,
                  LList pattern,
                  Symbol expectedValue,
                  java.util.List incorrectPatterns)