HierachicalSearchTest added to PlanningTestSuite.

Author: RuedigerLunde

aima-core/src/main/java/aima/core/logic/planning/ActionSchema.java

@@ -61,19 +61,20 @@ private void sortEffects() {
 
     @Override
     public String toString() {
-        String result = "Action(" + this.getName() + ")\n\tPRECOND:";
+        StringBuilder result = new StringBuilder();
+        result.append("Action(").append(this.getName()).append(")\n\tPRECOND:");
         String and = "";
         for (Literal precond : getPrecondition()) {
-            result = result + and + precond.toString();
+            result.append(and).append(precond);
             and = "^";
         }
-        result = result + "\n\tEFFECT:";
+        result.append("\n\tEFFECT:");
         and = "";
         for (Literal effect : getEffects()) {
-            result = result + and + effect.toString();
+            result.append(and).append(effect);
             and = "^";
         }
-        return result;
+        return result.toString();
     }
 
     @Override

aima-core/src/main/java/aima/core/logic/planning/hierarchicalsearch/HierarchicalSearchAlgorithm.java

@@ -44,7 +44,7 @@ public class HierarchicalSearchAlgorithm {
      */
     public List<ActionSchema> heirarchicalSearch(Problem problem) {
         // frontier ← a FIFO queue with [Act] as the only element
-        Queue<List<ActionSchema>> frontier = new LinkedList<>();
+        LinkedList<List<ActionSchema>> frontier = new LinkedList<>();
         frontier.add(new ArrayList<>(Collections.singletonList(PlanningProblemFactory.getHlaAct(problem))));
         // loop do
         while (true) {
@@ -79,16 +79,14 @@ public List<ActionSchema> heirarchicalSearch(Problem problem) {
                 if (outcome.getFluents().containsAll(problem.getGoalState().getFluents()))
                     return plan;
             } else {
-                List<ActionSchema> tempInsertionList = new ArrayList<>();
                 // else for each sequence in REFINEMENTS(hla, outcome, hierarchy) do
-                for (List<ActionSchema> sequence :
-                        refinements(hla, outcome)) {
+                for (List<ActionSchema> sequence : refinements(hla, outcome)) {
                     // frontier ← INSERT(APPEND(prefix, sequence, suffix), frontier)
-                    tempInsertionList.clear();
-                    tempInsertionList.addAll(prefix);
-                    tempInsertionList.addAll(sequence);
-                    tempInsertionList.addAll(suffix);
-                    ((LinkedList<List<ActionSchema>>) frontier).addLast(new ArrayList<>(tempInsertionList));
+                    List<ActionSchema> list = new ArrayList<>();
+                    list.addAll(prefix);
+                    list.addAll(sequence);
+                    list.addAll(suffix);
+                    frontier.addLast(list);
                 }
             }
         }
@@ -105,8 +103,7 @@ public List<ActionSchema> heirarchicalSearch(Problem problem) {
      */
     public List<List<ActionSchema>> refinements(ActionSchema hla, State outcome) {
         List<List<ActionSchema>> result = new ArrayList<>();
-        for (List<ActionSchema> refinement :
-                ((HighLevelAction) hla).getRefinements()) {
+        for (List<ActionSchema> refinement : ((HighLevelAction) hla).getRefinements()) {
             if (refinement.size() > 0) {
                 if (outcome.isApplicable(refinement.get(0)))
                     result.add(refinement);

aima-core/src/main/java/aima/core/logic/planning/hierarchicalsearch/HighLevelAction.java

@@ -14,17 +14,19 @@
  * by definition).
  *
  * @author samagra
+ * @author Ruediger Lunde
  */
 public class HighLevelAction extends ActionSchema {
     List<List<ActionSchema>> refinements;
 
-    public HighLevelAction(String name, List<Term> variables, String precondition, String effects, List<List<ActionSchema>> refinements) {
+    public HighLevelAction(String name, List<Term> variables, String precondition, String effects,
+                           List<List<ActionSchema>> refinements) {
         super(name, variables, precondition, effects);
         this.refinements = refinements;
     }
 
     public void addRefinement(List<ActionSchema> newRefinement) {
-        this.refinements.add(newRefinement);
+        refinements.add(newRefinement);
     }
 
     public List<List<ActionSchema>> getRefinements() {
@@ -33,16 +35,16 @@ public List<List<ActionSchema>> getRefinements() {
 
     @Override
     public String toString() {
-        String result = super.toString();
-        result = result + "\n" + "REFINEMENTS : \n";
-        for (List<ActionSchema> refinement :
-                this.getRefinements()) {
-            result += "\n";
-            for (ActionSchema action :
-                    refinement) {
-                result = result + "\n" + (action.getName());
+        StringBuilder result = new StringBuilder(super.toString());
+        result.append("\nREFINEMENTS:");
+        for (List<ActionSchema> refinement : getRefinements()) {
+            result.append("\n\t");
+            String sep = "";
+            for (ActionSchema action : refinement) {
+                result.append(sep).append(action.getName());
+                sep = ", ";
             }
         }
-        return result;
+        return result.toString();
     }
 }

aima-core/src/test/java/aima/test/core/unit/logic/planning/PlanningTestSuite.java

@@ -1,11 +1,12 @@
 package aima.test.core.unit.logic.planning;
 
+import aima.test.core.unit.logic.planning.hierarchicalsearch.HierarchicalSearchTest;
 import org.junit.runner.RunWith;
 import org.junit.runners.Suite;
 
 @RunWith(Suite.class)
 @Suite.SuiteClasses({ActionSchemaTest.class, GraphPlanAlgorithmTest.class, GraphTest.class, LevelTest.class,
-ProblemTest.class, StateTest.class, UtilsTest.class})
+ProblemTest.class, StateTest.class, UtilsTest.class, HierarchicalSearchTest.class})
 
 public class PlanningTestSuite {