AnyPlan.cpp

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#include <actasp/planners/AnyPlan.h>

#include <actasp/MultiPlanner.h>
#include <actasp/Action.h>

#include <cstdlib>

using namespace std;

namespace actasp {

AnyPlan::AnyPlan(actasp::MultiPlanner *actualPlanner, double suboptimality) : 
        actualPlanner(actualPlanner),
        suboptimality(suboptimality){}

AnswerSet AnyPlan::computePlan(const std::vector<actasp::AspRule>& goal) const throw (std::logic_error) {

        vector< AnswerSet > allPlans = actualPlanner->computeAllPlans(goal,suboptimality);

        if (allPlans.empty())
                return AnswerSet();

        //pick one plan and return it, destroy the others

        int picked =rand() % allPlans.size();

        return allPlans[picked];

}

}