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📦 NEW: 完全最优行为树扩展算法

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Caiyishuai 2023-11-06 17:41:25 +08:00
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commit 2d4d3cc82d
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opt_bt_expansion/README.md
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@ -102,6 +102,7 @@ print(ptml_string)
```python ```python
# 判断初始状态能否到达目标状态 # 判断初始状态能否到达目标状态
start = {'At(Robot,Bar)', 'Holding(VacuumCup)', 'Available(Table)', 'Available(CoffeeMachine)','Available(FrontDesk)'} start = {'At(Robot,Bar)', 'Holding(VacuumCup)', 'Available(Table)', 'Available(CoffeeMachine)','Available(FrontDesk)'}
# 方法一：算法返回所有可能的初始状态，在里面看看有没有对应的初始状态 # 方法一：算法返回所有可能的初始状态，在里面看看有没有对应的初始状态
right_bt = algo.find_all_leaf_states_contain_start(start) right_bt = algo.find_all_leaf_states_contain_start(start)
if not right_bt: if not right_bt:
@ -109,7 +110,6 @@ if not right_bt:
else: else:
print("Right1: The current state can reach the goal state!") print("Right1: The current state can reach the goal state!")
# 方法二：预先跑一边行为树，看能否到达目标状态 # 方法二：预先跑一边行为树，看能否到达目标状态
right_bt2 = algo.run_bt_from_start(goal,start) right_bt2 = algo.run_bt_from_start(goal,start)
if not right_bt2: if not right_bt2: