Reduces memory usage and processing time it takes to make the applica…

…bility graph

FlashPlanner.Core/Models/TranslatorContext.cs

@@ -23,7 +23,7 @@ public class TranslatorContext
         /// <summary>
         /// A graph saying that when a given operator have been executed, these following operators could now be applicable
         /// </summary>
-        public Dictionary<int, List<Operator>> ApplicabilityGraph;
+        public Dictionary<int, List<int>> ApplicabilityGraph;
 
         /// <summary>
         /// Main constructor
@@ -32,7 +32,7 @@ public class TranslatorContext
         /// <param name="pDDL"></param>
         /// <param name="factHashes"></param>
         /// <param name="applicabilityGraph"></param>
-        public TranslatorContext(SASDecl sas, PDDLDecl pDDL, int[] factHashes, Dictionary<int, List<Operator>> applicabilityGraph)
+        public TranslatorContext(SASDecl sas, PDDLDecl pDDL, int[] factHashes, Dictionary<int, List<int>> applicabilityGraph)
         {
             SAS = sas;
             PDDL = pDDL;
@@ -48,7 +48,7 @@ public TranslatorContext()
             SAS = new SASDecl();
             PDDL = new PDDLDecl();
             FactHashes = new int[0];
-            ApplicabilityGraph = new Dictionary<int, List<Operator>>();
+            ApplicabilityGraph = new Dictionary<int, List<int>>();
         }
     }
 }

FlashPlanner.Core/Search/BeamS.cs

@@ -31,8 +31,9 @@ public BeamS(IHeuristic heuristic, int beta) : base(heuristic)
             {
                 var stateMove = ExpandBestState();
                 var newItems = new RefPriorityQueue<StateMove>();
-                foreach (var op in _context.ApplicabilityGraph[stateMove.Operator])
+                foreach (var opID in _context.ApplicabilityGraph[stateMove.Operator])
                 {
+                    var op = _context.SAS.GetOperatorByID(opID);
                     if (Abort) break;
                     if (stateMove.State.IsApplicable(op))
                     {

FlashPlanner.Core/Search/EnforcedHillClimbingS.cs

@@ -1,12 +1,6 @@
 using FlashPlanner.Core.Heuristics;
-using FlashPlanner.Core.Models;
 using FlashPlanner.Core.States;
 using PDDLSharp.Models.FastDownward.Plans;
-using System;
-using System.Collections.Generic;
-using System.Linq;
-using System.Text;
-using System.Threading.Tasks;
 
 namespace FlashPlanner.Core.Search
 {
@@ -30,8 +24,9 @@ public EnforcedHillClimbingS(IHeuristic heuristic) : base(heuristic)
             while (!Abort && _openList.Count > 0)
             {
                 var stateMove = ExpandBestState();
-                foreach (var op in _context.ApplicabilityGraph[stateMove.Operator])
+                foreach (var opID in _context.ApplicabilityGraph[stateMove.Operator])
                 {
+                    var op = _context.SAS.GetOperatorByID(opID);
                     if (Abort) break;
                     if (stateMove.State.IsApplicable(op))
                     {

FlashPlanner.Core/Search/GreedyBFS.cs

@@ -22,8 +22,9 @@ public GreedyBFS(IHeuristic heuristic) : base(heuristic)
             while (!Abort && _openList.Count > 0)
             {
                 var stateMove = ExpandBestState();
-                foreach (var op in _context.ApplicabilityGraph[stateMove.Operator])
+                foreach (var opID in _context.ApplicabilityGraph[stateMove.Operator])
                 {
+                    var op = _context.SAS.GetOperatorByID(opID);
                     if (Abort) break;
                     if (stateMove.State.IsApplicable(op))
                     {

FlashPlanner.Core/Search/GreedyBFSDHE.cs

@@ -32,8 +32,9 @@ public GreedyBFSDHE(IHeuristic heuristic) : base(heuristic)
                     stateMove.hValue = Heuristic.GetValue(stateMove, stateMove.State, _context.SAS.Operators);
 
                 bool lowerFound = false;
-                foreach (var op in _context.ApplicabilityGraph[stateMove.Operator])
+                foreach (var opID in _context.ApplicabilityGraph[stateMove.Operator])
                 {
+                    var op = _context.SAS.GetOperatorByID(opID);
                     if (Abort) break;
                     if (stateMove.State.IsApplicable(op))
                     {

FlashPlanner.Core/Search/GreedyBFSFocused.cs

@@ -58,8 +58,9 @@ public GreedyBFSFocused(IHeuristic heuristic, int numberOfMacros, int searchBudg
             while (!Abort && _openList.Count > 0)
             {
                 var stateMove = ExpandBestState();
-                foreach (var op in _context.ApplicabilityGraph[stateMove.Operator])
+                foreach (var opID in _context.ApplicabilityGraph[stateMove.Operator])
                 {
+                    var op = _context.SAS.GetOperatorByID(opID);
                     if (Abort) break;
                     if (stateMove.State.IsApplicable(op))
                     {

FlashPlanner.Core/Search/GreedyBFSLazy.cs

@@ -25,8 +25,9 @@ public GreedyBFSLazy(IHeuristic heuristic) : base(heuristic)
                 var stateMove = ExpandBestState();
                 stateMove.hValue = Heuristic.GetValue(stateMove, stateMove.State, _context.SAS.Operators);
 
-                foreach (var op in _context.ApplicabilityGraph[stateMove.Operator])
+                foreach (var opID in _context.ApplicabilityGraph[stateMove.Operator])
                 {
+                    var op = _context.SAS.GetOperatorByID(opID);
                     if (Abort) break;
                     if (stateMove.State.IsApplicable(op))
                     {

FlashPlanner.Core/Search/GreedyBFSPO.cs

@@ -63,8 +63,9 @@ public GreedyBFSPO(IHeuristic heuristic) : base(heuristic)
 
                     var stateMove = ExpandBestState();
 
-                    foreach (var op in _context.ApplicabilityGraph[stateMove.Operator])
+                    foreach (var opID in _context.ApplicabilityGraph[stateMove.Operator])
                     {
+                        var op = _context.SAS.GetOperatorByID(opID);
                         if (Abort) break;
                         if (stateMove.State.IsApplicable(op))
                         {

FlashPlanner.Core/Translators/PDDLToSASTranslator.cs

@@ -94,7 +94,7 @@ public TranslatorContext Translate(PDDLDecl from)
             CheckIfValid(from);
 
             var phases = GetTranslatorPhases(from);
-            var result = new TranslatorContext(new SASDecl(), from, new int[0], new Dictionary<int, List<Operator>>());
+            var result = new TranslatorContext(new SASDecl(), from, new int[0], new Dictionary<int, List<int>>());
             foreach (var phase in phases)
             {
                 if (Abort) return new TranslatorContext();

FlashPlanner.Core/Translators/Phases/GenerateApplicabilityGraphPhase.cs

@@ -1,6 +1,7 @@
 using FlashPlanner.Core.Models;
 using FlashPlanner.Core.Models.SAS;
 using FlashPlanner.Core.States;
+using System.Xml.Linq;
 
 namespace FlashPlanner.Core.Translators.Phases
 {
@@ -33,38 +34,39 @@ public override TranslatorContext ExecutePhase(TranslatorContext from)
 
         private TranslatorContext GenerateTotalGraph(TranslatorContext from)
         {
-            var graphs = new Dictionary<int, List<Operator>>();
+            var graphs = new Dictionary<int, List<int>>();
             var inits = GetInitApplicableOperators(from);
+            var all = from.SAS.Operators.Select(x => x.ID).ToList();
             // -1 is from the initial state
             graphs.Add(-1, inits.ToList());
             foreach (var op in from.SAS.Operators)
-                graphs.Add(op.ID, from.SAS.Operators);
+                graphs.Add(op.ID, all);
 
             from = new TranslatorContext(from.SAS, from.PDDL, from.FactHashes, graphs);
             return from;
         }
 
-        private TranslatorContext GenerateApplicabilityGraph(TranslatorContext from, Dictionary<string, List<Operator>> argGraph, Dictionary<int, List<Operator>> preGraph)
+        private TranslatorContext GenerateApplicabilityGraph(TranslatorContext from, Dictionary<string, List<int>> argGraph, Dictionary<int, List<int>> preGraph)
         {
-            var graphs = new Dictionary<int, List<Operator>>();
+            var graphs = new Dictionary<int, List<int>>();
             var inits = GetInitApplicableOperators(from);
             // -1 is from the initial state
             graphs.Add(-1, inits.ToList());
             foreach (var op in from.SAS.Operators)
             {
-                var possibles = new List<Operator>();
+                var possibles = new List<int>();
                 foreach (var arg in op.Arguments)
                     if (argGraph.ContainsKey(arg))
                         possibles.AddRange(argGraph[arg]);
                 foreach (var add in op.Add)
                     if (preGraph.ContainsKey(add.ID))
                         possibles.AddRange(preGraph[add.ID]);
                 possibles.AddRange(inits);
-                graphs.Add(op.ID, possibles.DistinctBy(x => x.ID).ToList());
+                graphs.Add(op.ID, possibles.Distinct().ToList());
             }
 
             foreach (var key in graphs.Keys)
-                graphs[key].RemoveAll(x => x.ID == key);
+                graphs[key].RemoveAll(x => x == key);
 
             var total = graphs.Sum(x => x.Value.Count);
             var worst = from.SAS.Operators.Count * from.SAS.Operators.Count;
@@ -74,47 +76,47 @@ private TranslatorContext GenerateApplicabilityGraph(TranslatorContext from, Dic
             return from;
         }
 
-        private HashSet<Operator> GetInitApplicableOperators(TranslatorContext context)
+        private HashSet<int> GetInitApplicableOperators(TranslatorContext context)
         {
-            var ops = new HashSet<Operator>();
+            var ops = new HashSet<int>();
             var initState = new SASStateSpace(context);
 
             foreach (var op in context.SAS.Operators)
                 if (initState.IsApplicable(op))
-                    ops.Add(op);
+                    ops.Add(op.ID);
 
             return ops;
         }
 
-        private Dictionary<string, List<Operator>> GenerateOpArgumentGraph(SASDecl decl)
+        private Dictionary<string, List<int>> GenerateOpArgumentGraph(SASDecl decl)
         {
-            var argGraph = new Dictionary<string, List<Operator>>();
+            var argGraph = new Dictionary<string, List<int>>();
             foreach (var op in decl.Operators)
             {
                 foreach (var arg in op.Arguments)
                 {
                     if (argGraph.ContainsKey(arg))
-                        argGraph[arg].Add(op);
+                        argGraph[arg].Add(op.ID);
                     else
-                        argGraph.Add(arg, new List<Operator>() { op });
+                        argGraph.Add(arg, new List<int>() { op.ID });
                 }
             }
             foreach (var key in argGraph.Keys)
                 argGraph[key] = argGraph[key].Distinct().ToList();
             return argGraph;
         }
 
-        private Dictionary<int, List<Operator>> GeneratePreconditionGraph(SASDecl decl)
+        private Dictionary<int, List<int>> GeneratePreconditionGraph(SASDecl decl)
         {
-            var preGraph = new Dictionary<int, List<Operator>>();
+            var preGraph = new Dictionary<int, List<int>>();
             foreach (var op in decl.Operators)
             {
                 foreach (var pre in op.Pre)
                 {
                     if (preGraph.ContainsKey(pre.ID))
-                        preGraph[pre.ID].Add(op);
+                        preGraph[pre.ID].Add(op.ID);
                     else
-                        preGraph.Add(pre.ID, new List<Operator>() { op });
+                        preGraph.Add(pre.ID, new List<int>() { op.ID });
                 }
             }
             foreach (var key in preGraph.Keys)

FlashPlanner.Core/Translators/Phases/RemoveUnreachableOperatorsPhase.cs

@@ -29,7 +29,7 @@ private List<Operator> GetPotentiallyReachableOperators(SASDecl decl)
         {
             bool any = true;
             bool[] covered = new bool[decl.Operators.Count];
-            var state = new RelaxedSASStateSpace(new TranslatorContext(decl, new PDDLDecl(), new int[decl.Facts], new Dictionary<int, List<Operator>>()));
+            var state = new RelaxedSASStateSpace(new TranslatorContext(decl, new PDDLDecl(), new int[decl.Facts], new Dictionary<int, List<int>>()));
             var applicables = new List<Operator>();
             while (any)
             {

FlashPlanner.Tests/Heuristics/hGoalTests.cs

@@ -28,7 +28,7 @@ public void Can_GeneratehGoalCorrectly_NoGoals()
             decl.Goal[0].ID = 0;
             decl.Facts = 1;
             var h = new hGoal();
-            var state = new SASStateSpace(new TranslatorContext(decl, new PDDLDecl(), new int[0], new Dictionary<int, List<Operator>>()));
+            var state = new SASStateSpace(new TranslatorContext(decl, new PDDLDecl(), new int[0], new Dictionary<int, List<int>>()));
             var parent = new StateMove(state);
 
             // ACT
@@ -51,7 +51,7 @@ public void Can_GeneratehGoalCorrectly_OneGoal()
 
             var decl = new SASDecl(new List<Operator>(), goals.ToArray(), inits.ToArray(), 1);
             var h = new hGoal();
-            var state = new SASStateSpace(new TranslatorContext(decl, new PDDLDecl(), new int[0], new Dictionary<int, List<Operator>>()));
+            var state = new SASStateSpace(new TranslatorContext(decl, new PDDLDecl(), new int[0], new Dictionary<int, List<int>>()));
             var parent = new StateMove(state);
 
             // ACT
@@ -80,7 +80,7 @@ public void Can_GeneratehGoalCorrectly_MultipleGoals_1()
 
             var decl = new SASDecl(new List<Operator>(), goals.ToArray(), inits.ToArray(), 3);
             var h = new hGoal();
-            var state = new SASStateSpace(new TranslatorContext(decl, new PDDLDecl(), new int[3], new Dictionary<int, List<Operator>>()));
+            var state = new SASStateSpace(new TranslatorContext(decl, new PDDLDecl(), new int[3], new Dictionary<int, List<int>>()));
             var parent = new StateMove(state);
 
             // ACT
@@ -112,7 +112,7 @@ public void Can_GeneratehGoalCorrectly_MultipleGoals_2()
             var decl = new SASDecl(new List<Operator>(), goals.ToArray(), inits.ToArray(), 3);
 
             var h = new hGoal();
-            var state = new SASStateSpace(new TranslatorContext(decl, new PDDLDecl(), new int[0], new Dictionary<int, List<Operator>>()));
+            var state = new SASStateSpace(new TranslatorContext(decl, new PDDLDecl(), new int[0], new Dictionary<int, List<int>>()));
             var parent = new StateMove(state);
 
             // ACT

FlashPlanner.Tests/Models/BitMaskTests.cs

@@ -51,12 +51,12 @@ public void Can_SetEntireArrayToZero()
         }
 
         [TestMethod]
-        [DataRow(0,0)]
-        [DataRow(1,0,true)]
-        [DataRow(1,1,true,false)]
-        [DataRow(2,1,true,false,true)]
-        [DataRow(4,1,true,true,true,false,true)]
-        [DataRow(4,2,true,true,true,false,true, false)]
+        [DataRow(0, 0)]
+        [DataRow(1, 0, true)]
+        [DataRow(1, 1, true, false)]
+        [DataRow(2, 1, true, false, true)]
+        [DataRow(4, 1, true, true, true, false, true)]
+        [DataRow(4, 2, true, true, true, false, true, false)]
         public void Can_SetSomeValues(int expectedTrue, int expectedFalse, params bool[] targets)
         {
             // ARRANGE
@@ -119,7 +119,7 @@ public void Can_EqualsIfTheSame(params bool[] targets)
             // ARRANGE
             var mask1 = new BitMask(targets.Length);
             var mask2 = new BitMask(targets.Length);
-            for(int i = 0; i < targets.Length; i++)
+            for (int i = 0; i < targets.Length; i++)
             {
                 mask1[i] = targets[i];
                 mask2[i] = targets[i];

FlashPlanner.Tests/RelaxedPlanningGraphs/OperatorRPGTests.cs

@@ -141,7 +141,7 @@ public void Cant_GenerateGraph_IfNoApplicableActions_1()
             goal.Add(new Fact("abc"));
             goal.ElementAt(0).ID = 0;
             var decl = new SASDecl(new List<Operator>(), goal.ToArray(), new Fact[0], 1);
-            var state = new RelaxedSASStateSpace(new TranslatorContext(decl, new PDDLDecl(), new int[1], new Dictionary<int, List<Operator>>()));
+            var state = new RelaxedSASStateSpace(new TranslatorContext(decl, new PDDLDecl(), new int[1], new Dictionary<int, List<int>>()));
             var generator = new OperatorRPG();
 
             // ACT
@@ -159,7 +159,7 @@ public void Cant_GenerateGraph_IfNoApplicableActions_2()
             goal.Add(new Fact("abc"));
             goal.ElementAt(0).ID = 0;
             var decl = new SASDecl(new List<Operator>(), goal.ToArray(), new Fact[0], 2);
-            var state = new RelaxedSASStateSpace(new TranslatorContext(decl, new PDDLDecl(), new int[2], new Dictionary<int, List<Operator>>()));
+            var state = new RelaxedSASStateSpace(new TranslatorContext(decl, new PDDLDecl(), new int[2], new Dictionary<int, List<int>>()));
 
             var actions = new List<Operator>()
             {
@@ -188,7 +188,7 @@ public void Cant_GenerateGraph_IfActionDoesNothing()
             goal.Add(new Fact("abc"));
             goal.ElementAt(0).ID = 0;
             var decl = new SASDecl(new List<Operator>(), goal.ToArray(), new Fact[0], 1);
-            var state = new RelaxedSASStateSpace(new TranslatorContext(decl, new PDDLDecl(), new int[1], new Dictionary<int, List<Operator>>()));
+            var state = new RelaxedSASStateSpace(new TranslatorContext(decl, new PDDLDecl(), new int[1], new Dictionary<int, List<int>>()));
 
             var operators = new List<Operator>()
             {

FlashPlanner/FlashPlanner.csproj

@@ -17,7 +17,7 @@
 
   <PropertyGroup>
 	  <PackageLicenseFile>LICENSE.txt</PackageLicenseFile>
-	  <Version>1.2.13</Version>
+	  <Version>1.2.14</Version>
   </PropertyGroup>
 
   <ItemGroup>

FlashPlanner/Properties/launchSettings.json

@@ -2,7 +2,7 @@
   "profiles": {
     "FlashPlanner.CLI": {
       "commandName": "Project",
-      "commandLineArgs": "--domain ../../../../Dependencies/FocusedMetaActionsData/Benchmarks/gripper/domain.pddl --problem ../../../../Dependencies/FocusedMetaActionsData/Benchmarks/gripper/testing/p01.pddl --search \"ehc(hFF())\" --validate\""
+      "commandLineArgs": "--domain ../../../../Dependencies/FocusedMetaActionsData/Benchmarks/scanalyzer/domain.pddl --problem ../../../../Dependencies/FocusedMetaActionsData/Benchmarks/scanalyzer/testing/p05.pddl --search \"greedy(hFF())\" --validate\""
     }
   }
 }