From 8353c4cccf11dbd395e2762ad2676e6f70c5ca12 Mon Sep 17 00:00:00 2001
From: Franck Dary <franck.dary@lis-lab.fr>
Date: Wed, 26 Jun 2019 16:08:53 +0200
Subject: [PATCH] Improved BACK action appliable detection
---
transition_machine/include/Config.hpp | 2 +-
transition_machine/src/ActionBank.cpp | 31 ++++++++++++++++++++++-----
2 files changed, 27 insertions(+), 6 deletions(-)
diff --git a/transition_machine/include/Config.hpp b/transition_machine/include/Config.hpp
index fcbe0a3..0d43fe1 100644
--- a/transition_machine/include/Config.hpp
+++ b/transition_machine/include/Config.hpp
@@ -138,7 +138,7 @@ class Config
private :
- const unsigned int HISTORY_SIZE = 1000;
+ const unsigned int HISTORY_SIZE = 2000;
/// @brief The name of the current state of the TransitionMachine.
std::string currentStateName;
/// @brief For each state of the TransitionMachine, an history of the Action that have been applied to this Config.
diff --git a/transition_machine/src/ActionBank.cpp b/transition_machine/src/ActionBank.cpp
index 6591710..4dbf8e3 100644
--- a/transition_machine/src/ActionBank.cpp
+++ b/transition_machine/src/ActionBank.cpp
@@ -564,16 +564,37 @@ std::vector<Action::BasicAction> ActionBank::str2sequence(const std::string & na
};
auto appliable = [dist](Config & c, Action::BasicAction)
{
- std::string classifierName = c.pastActions.top().first;
- int stateHistorySize = c.getStateHistory(classifierName).size();
-
- if (c.getCurrentStateHistory().size() >= 2 && (c.getCurrentStateHistory().top() == "BACK" || c.getCurrentStateHistory().getElem(1) == "BACK"))
+ if (c.pastActions.size() == 0)
return false;
+ const std::string & classifierName = c.pastActions.top().first;
+
if (c.hashHistory.contains(c.computeHash()))
return false;
- if (stateHistorySize <= dist)
+ unsigned int topIndex = 0;
+
+ static auto undoOneTime = [](Config & c, const std::string & classifierName, unsigned int & topIndex)
+ {
+ while (true)
+ {
+ topIndex++;
+
+ if (topIndex >= c.pastActions.size())
+ return;
+
+ if (c.pastActions.getElem(topIndex).first == classifierName)
+ return;
+ }
+ };
+
+ undoOneTime(c, classifierName, topIndex);
+ for (int i = 0; i < dist-1; i++)
+ undoOneTime(c, classifierName, topIndex);
+
+ undoOneTime(c, classifierName, topIndex);
+
+ if (topIndex >= c.pastActions.size())
return false;
return true;
--
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