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Brought back the closed_set to avoid visiting nodes already handled.

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This commit is contained in:
Zed A. Shaw 2025-03-30 12:55:59 -04:00
parent 922fbeba0e
commit 0ebc60793a
1 changed files with 11 additions and 1 deletions
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12
goap.cpp
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@ -106,6 +106,7 @@ namespace ai {
} }
ActionPlan plan_actions(std::vector<Action>& actions, State start, State goal) { ActionPlan plan_actions(std::vector<Action>& actions, State start, State goal) {
int loop_count = 0;
std::unordered_map<ActionState, int> open_set; std::unordered_map<ActionState, int> open_set;
std::unordered_map<Action, Action> came_from; std::unordered_map<Action, Action> came_from;
std::unordered_map<State, int> g_score; std::unordered_map<State, int> g_score;
@ -120,10 +121,12 @@ namespace ai {
open_set.insert_or_assign(current, h(start, goal)); open_set.insert_or_assign(current, h(start, goal));
while(!open_set.empty()) { while(!open_set.empty()) {
loop_count++;
// current := the node in openSet having the lowest fScore[] value // current := the node in openSet having the lowest fScore[] value
current = find_lowest(open_set, f_score); current = find_lowest(open_set, f_score);
if(is_subset(current.state, goal)) { if(is_subset(current.state, goal)) {
fmt::println("YES CLOSED COUNT: {}", loop_count);
return {true, return {true,
reconstruct_path(came_from, current.action)}; reconstruct_path(came_from, current.action)};
} }
@ -136,7 +139,13 @@ namespace ai {
if(!neighbor_action.can_effect(current.state)) continue; if(!neighbor_action.can_effect(current.state)) continue;
auto neighbor = neighbor_action.apply_effect(current.state); auto neighbor = neighbor_action.apply_effect(current.state);
// if(closed_set.contains(neighbor)) continue; if(closed_set.contains(neighbor)) {
fmt::println("closed_set: {}, open_set: {}, f_score: {}",
closed_set.size(), open_set.size(), f_score.size());
continue;
} else {
loop_count++;
}
int d_score = d(current.state, neighbor) + neighbor_action.cost; int d_score = d(current.state, neighbor) + neighbor_action.cost;
@ -161,6 +170,7 @@ namespace ai {
} }
} }
fmt::println("YES CLOSED COUNT: {}", loop_count);
return {is_subset(current.state, goal), reconstruct_path(came_from, current.action)}; return {is_subset(current.state, goal), reconstruct_path(came_from, current.action)};
} }
} }