pub fn solve<PS: planner::ProblemSpace + planner::Anytime>(
    ps: &mut PS,
    start: PS::State,
    goal: PS::State,
    iterations: u16,
) -> PS::State {
    let mut n_vals: collections::HashMap<PS::State, u64> = collections::HashMap::new();
    let mut q_vals: collections::HashMap<PS::State, f64> = collections::HashMap::new();
    let mut children: collections::HashMap<PS::State, Vec<PS::State>> = collections::HashMap::new();

    let mut curr = start;

    while curr != goal {
        let mut i: u16 = 0;
        while i < iterations {
            let mut parents: collections::HashMap<PS::State, PS::State> =
                collections::HashMap::new();
            let v_i = tree_policy(ps, curr, &mut children, &n_vals, &q_vals);
            parents.insert(v_i, curr);
            let delta = default_policy(ps, v_i, &mut parents);
            backup(ps, v_i, delta, &mut n_vals, &mut q_vals, &parents);
            i += 1;
        }
        curr = best_child(ps, curr, &mut children, &n_vals, &q_vals, 0.0).unwrap();
        ps.callback(&curr);
    }
    curr
}
///
/// Given an problem space will try to figure our what the best next step/action is.
///
// TODO: Parallelize this.
Given an problem space will try to figure our what the best next step/action is.
TODO: Parallelize this.
Given an problem space will try to figure our what the best next step / action is . TODO : Parallelize this .
pub fn solve<PS: planner::ProblemSpace + planner::Anytime>(
    ps: &mut PS,
    start: PS::State,
    goal: PS::State,
    iterations: u16,
) -> PS::State {
    let mut n_vals: collections::HashMap<PS::State, u64> = collections::HashMap::new();
    let mut q_vals: collections::HashMap<PS::State, f64> = collections::HashMap::new();
    let mut children: collections::HashMap<PS::State, Vec<PS::State>> = collections::HashMap::new();
    let mut curr = start;
    while curr != goal {
        let mut i: u16 = 0;
        while i < iterations {
            let mut parents: collections::HashMap<PS::State, PS::State> =
                collections::HashMap::new();
            let v_i = tree_policy(ps, curr, &mut children, &n_vals, &q_vals);
            parents.insert(v_i, curr);
            let delta = default_policy(ps, v_i, &mut parents);
            backup(ps, v_i, delta, &mut n_vals, &mut q_vals, &parents);
            i += 1;
        }
        curr = best_child(ps, curr, &mut children, &n_vals, &q_vals, 0.0).unwrap();
        ps.callback(&curr);
    }
    curr
}
pub fn solve < PS : planner :: ProblemSpace + planner :: Anytime > ( ps : & mut PS , start : PS :: State , goal : PS :: State , iterations : u16 , ) -> PS :: State { let mut n_vals : collections :: HashMap < PS :: State , u64 > = collections :: HashMap :: new ( ) ; let mut q_vals : collections :: HashMap < PS :: State , f64 > = collections :: HashMap :: new ( ) ; let mut children : collections :: HashMap < PS :: State , Vec < PS :: State > > = collections :: HashMap :: new ( ) ; let mut curr = start ; while curr != goal { let mut i : u16 = 0 ; while i < iterations { let mut parents : collections :: HashMap < PS :: State , PS :: State > = collections :: HashMap :: new ( ) ; let v_i = tree_policy ( ps , curr , & mut children , & n_vals , & q_vals ) ; parents . insert ( v_i , curr ) ; let delta = default_policy ( ps , v_i , & mut parents ) ; backup ( ps , v_i , delta , & mut n_vals , & mut q_vals , & parents ) ; i += 1 ; } curr = best_child ( ps , curr , & mut children , & n_vals , & q_vals , 0.0 ) . unwrap ( ) ; ps . callback ( & curr ) ; } curr }
Given an problem space will try to figure our what the best next step/action is.
Given an problem space will try to figure our what the best next step / action is .
ps
&mut PS
start
PS::State
goal
PS::State
iterations
u16
ps
&mut PS
start
PS::State
goal
PS::State
iterations
u16