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chore(docs): commenting pass on Planner::make_plan

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Sara 2024-03-27 23:12:05 +01:00
parent 971c2dd2ff
commit 4c51a6053a
1 changed files with 11 additions and 6 deletions
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17
src/planner.cpp
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@ -87,24 +87,29 @@ Array Planner::gdscript_make_plan(Ref<Goal> goal) {
}
Vector<Ref<Action>> Planner::make_plan(Ref<Goal> goal) {
UtilityFunctions::print("run");
// ordered list of all nodes still being considered
Vector<PlannerNode> open{PlannerNode::goal_node(goal->goal_state)};
PlannerNode first = open.get(0);
FromMap from{};
ScoreMap dist_traveled{};
ScoreMap best_guess{};
FromMap from{}; // mapping states to the previous in the path
ScoreMap dist_traveled{}; // mapping states to the shortest found distance from start
dist_traveled.insert(first, 0);
ScoreMap best_guess{}; // mapping states to the best guess of the distance to the goal
best_guess.insert(first, first.open_requirements.size());
PlannerNode current{};
PlannerNode current{}; // state we're checking for neighbours or completion
while(!open.is_empty()) {
// current is the top of the ordered list
current = open.get(0);
// check if we've reached the goal
if(current.open_requirements.is_empty())
return trace_path(from, current);
// current is no longer considered as it cannot be the end
open.erase(current);
// find all neighbours of this state
Vector<PlannerNode> neighbours = this->find_neighbours_of(current);
for(PlannerNode const& node : neighbours) {
float const new_dist = dist_traveled.get(current) + 1.f;
float const new_dist = dist_traveled.get(current) + 1.f; // unweighed distance traveled to neighbour
if(!dist_traveled.has(node) || new_dist < dist_traveled.get(node)) {
// store distances
dist_traveled[node] = new_dist;
best_guess[node] = new_dist + node.open_requirements.size();
from[node] = current;