Support AlternatingRTHS rendering.

Project.toml

@@ -32,7 +32,7 @@ NetworkLayout = "0.4.5"
 OrderedCollections = "1"
 PDDL = "0.2.13"
 PlanningDomains = "0.1.3"
-SymbolicPlanners = "0.1.24"
+SymbolicPlanners = "0.1.26"
 julia = "1.6"
 
 [extras]

src/animate.jl

@@ -571,3 +571,15 @@ function add_anim_callback(planner::RTHS, cb::AnimSolveCallback)
     planner.planner.callback = cb
     return planner
 end
+
+function add_anim_callback(planner::AlternatingRTHS, cb::AnimSolveCallback)
+    # Set top-level callback
+    planner = copy(planner)
+    planner.callback = cb
+    # Set callback for internal forward-search planner
+    for subplanner in planner.planners
+        subplanner.planner = copy(subplanner.planner)
+        subplanner.planner.callback = cb
+    end
+    return planner
+end

src/render.jl

@@ -154,3 +154,12 @@ function render_sol!(
     trajectory = @lift PDDL.simulate(domain, $state, collect($sol))
     return render_trajectory!(canvas, renderer, domain, trajectory; options...)
 end
+
+function render_sol!(
+    canvas::Canvas, renderer::Renderer,
+    domain::Domain, state::Observable, sol::Observable{<:MultiSolution};
+    options...
+)
+    sol = @lift $sol.selector($sol.solutions, $state)
+    return render_sol!(canvas, renderer, domain, state, sol; options...)
+end

test/gridworld/doors_keys_gems.jl

@@ -68,6 +68,16 @@ new_state[pddl"(ypos)"] = 4
 policy = refine!(policy, rths, domain, new_state, pddl"(has gem1)")
 canvas = renderer(domain, new_state, policy, show_goal_tree=true)
 
+# Render multi-solution
+rths_bfs = RTHS(GoalCountHeuristic(), h_mult=0.0, max_nodes=10)
+rths_astar = RTHS(GoalCountHeuristic(), h_mult=1.0, max_nodes=20)
+arths = AlternatingRTHS(rths_bfs, rths_astar)
+new_state = copy(state)
+new_state[pddl"(xpos)"] = 4
+new_state[pddl"(ypos)"] = 4
+policy = arths(domain, new_state, pddl"(has gem1)")
+canvas = renderer(domain, new_state, policy, show_goal_tree=false)
+
 # Animate plan
 plan = collect(sol)
 anim = anim_plan(renderer, domain, state, plan; trail_length=10)