feat: add generic parameter TBeliefSet to aplib components (#31)

* feat: add IAction and ITactic

* feat: refactor aplib to use generic TBeliefSet

* fix: change local variable type to generic type

* refactor: use System.Collections.Generic using directive

* chore: remove parameterless constructors

* test: use moq for more tests

* refactor: put where keyword on new line and change summary to remark

* fix: improve mocking in tests

Aplib.Core/BdiAgent.cs

@@ -51,16 +51,15 @@ public void Update()
 
             // Desire
             _desireSet.UpdateStatus(_beliefSet);
-            if (Status != CompletionStatus.Unfinished)
-                return;
-            IGoal goal = _desireSet.GetCurrentGoal(_beliefSet);
+            if (Status != CompletionStatus.Unfinished) return;
+            IGoal<TBeliefSet> goal = _desireSet.GetCurrentGoal(_beliefSet);
 
             // Intent
-            Tactic tactic = goal.Tactic;
-            Action? action = tactic.GetAction();
+            ITactic<TBeliefSet> tactic = goal.Tactic;
+            IAction<TBeliefSet>? action = tactic.GetAction(_beliefSet);
 
             // Execute the action
-            action?.Execute();
+            action?.Execute(_beliefSet);
         }
     }
 }

Aplib.Core/Desire/DesireSet.cs

@@ -19,11 +19,11 @@ public class DesireSet<TBeliefSet> : IDesireSet<TBeliefSet>
         /// Initializes a new instance of the <see cref="DesireSet{TBeliefSet}" /> class.
         /// </summary>
         /// <param name="mainGoal">The main goal structure that the agent needs to complete.</param>
-        public DesireSet(IGoalStructure<TBeliefSet> mainGoal) 
+        public DesireSet(IGoalStructure<TBeliefSet> mainGoal)
             => _mainGoal = mainGoal;
 
         /// <inheritdoc />
-        public IGoal GetCurrentGoal(TBeliefSet beliefSet)
+        public IGoal<TBeliefSet> GetCurrentGoal(TBeliefSet beliefSet)
             => _mainGoal.GetCurrentGoal(beliefSet);
 
         /// <inheritdoc />

Aplib.Core/Desire/FirstOfGoalStructure.cs

@@ -21,15 +21,15 @@ public class FirstOfGoalStructure<TBeliefSet> : GoalStructure<TBeliefSet>, IDisp
         /// Initializes a new instance of the <see cref="FirstOfGoalStructure{TBeliefSet}" /> class.
         /// </summary>
         /// <param name="children">The children of the goal structure.</param>
-        public FirstOfGoalStructure(IList<IGoalStructure<TBeliefSet>> children) : base(children)
+        public FirstOfGoalStructure(params IGoalStructure<TBeliefSet>[] children) : base(children)
         {
-            _childrenEnumerator = children.GetEnumerator();
+            _childrenEnumerator = _children.GetEnumerator();
             _childrenEnumerator.MoveNext();
             _currentGoalStructure = _childrenEnumerator.Current;
         }
 
         /// <inheritdoc />
-        public override IGoal GetCurrentGoal(TBeliefSet beliefSet) => _currentGoalStructure!.GetCurrentGoal(beliefSet);
+        public override IGoal<TBeliefSet> GetCurrentGoal(TBeliefSet beliefSet) => _currentGoalStructure!.GetCurrentGoal(beliefSet);
 
         /// <inheritdoc />
         public override void UpdateStatus(TBeliefSet beliefSet)

Aplib.Core/Desire/GoalStructure.cs

@@ -7,7 +7,8 @@ namespace Aplib.Core.Desire
     /// <summary>
     /// Describes a structure of goals that need to be fulfilled.
     /// </summary>
-    public abstract class GoalStructure<TBeliefSet> : IGoalStructure<TBeliefSet> where TBeliefSet : IBeliefSet
+    public abstract class GoalStructure<TBeliefSet> : IGoalStructure<TBeliefSet>
+        where TBeliefSet : IBeliefSet
     {
         /// <inheritdoc />
         public CompletionStatus Status { get; protected set; }
@@ -33,7 +34,7 @@ public abstract class GoalStructure<TBeliefSet> : IGoalStructure<TBeliefSet> whe
         /// </summary>
         /// <param name="beliefSet">The belief set of the agent.</param>
         /// <returns>The current goal to be fulfilled.</returns>
-        public abstract IGoal GetCurrentGoal(TBeliefSet beliefSet);
+        public abstract IGoal<TBeliefSet> GetCurrentGoal(TBeliefSet beliefSet);
 
         /// <summary>
         /// Updates the state of the goal structure.

Aplib.Core/Desire/Goals/CommonHeuristicFunctions.cs

@@ -6,36 +6,37 @@ namespace Aplib.Core.Desire.Goals
     /// <summary>
     /// Contains helper methods to generate commonly used heuristic functions.
     /// </summary>
-    public static class CommonHeuristicFunctions
+    public static class CommonHeuristicFunctions<TBeliefSet>
+        where TBeliefSet : IBeliefSet
     {
         /// <summary>
-        /// Converts a boolean-based heuristic function to a <see cref="Goal.HeuristicFunction"/>.
+        /// Converts a boolean-based heuristic function to a <see cref="Goal{TBeliefSet}.HeuristicFunction"/>.
         /// </summary>
         /// <param name="heuristicFunction">
         /// A heuristic function which returns true only when the state is considered completed.
         /// </param>
         /// <returns>A heuristic function which wraps around the boolean-based heuristic function.</returns>
-        public static Goal.HeuristicFunction Boolean(Func<bool> heuristicFunction)
-            => _ => Heuristics.Boolean(heuristicFunction.Invoke());
+        public static Goal<TBeliefSet>.HeuristicFunction Boolean(Func<TBeliefSet, bool> heuristicFunction)
+            => beliefSet => Heuristics.Boolean(heuristicFunction.Invoke(beliefSet));
 
         /// <summary>
-        /// A <see cref="Goal.HeuristicFunction"/> which always returns <see cref="Heuristics"/> with the same distance.
+        /// A <see cref="Goal{TBeliefSet}.HeuristicFunction"/> which always returns <see cref="Heuristics"/> with the same distance.
         /// </summary>
         /// <param name="distance">The distance which the heuristic function must always return.</param>
-        public static Goal.HeuristicFunction Constant(float distance) => _ => new Heuristics { Distance = distance };
+        public static Goal<TBeliefSet>.HeuristicFunction Constant(float distance) => _ => new Heuristics { Distance = distance };
 
         /// <summary>
         /// Returns a heuristic function which always, at all times, and forever, returns a value indicating the state
         /// can be seen as completed.
         /// </summary>
         /// <returns>Said heuristic function.</returns>
-        public static Goal.HeuristicFunction Completed() => Constant(0f);
+        public static Goal<TBeliefSet>.HeuristicFunction Completed() => Constant(0f);
 
         /// <summary>
         /// Returns a heuristic function which always, at all times, and forever, returns a value indicating the state
         /// can be seen as NOT completed.
         /// </summary>
         /// <returns>Said heuristic function.</returns>
-        public static Goal.HeuristicFunction Uncompleted() => Constant(69_420f);
+        public static Goal<TBeliefSet>.HeuristicFunction Uncompleted() => Constant(69_420f);
     }
 }

Aplib.Core/Desire/Goals/Goal.cs

@@ -11,14 +11,16 @@ namespace Aplib.Core.Desire.Goals
     /// the testing.
     /// </summary>
     /// <seealso cref="GoalStructure{TBeliefSet}" />
-    public class Goal : IGoal
+    /// <typeparam name="TBeliefSet">The belief set of the agent.</typeparam>
+    public class Goal<TBeliefSet> : IGoal<TBeliefSet>
+        where TBeliefSet : IBeliefSet
     {
         /// <summary>
         /// The abstract definition of what is means to test the Goal's heuristic function. Returns <see cref="Heuristics" />, as
         /// they represent how close we are to matching the heuristic function, and if the goal is completed.
         /// </summary>
-        /// <seealso cref="Goal.GetStatus" />
-        public delegate Heuristics HeuristicFunction(IBeliefSet beliefSet);
+        /// <seealso cref="Goal{TBeliefSet}.GetStatus" />
+        public delegate Heuristics HeuristicFunction(TBeliefSet beliefSet);
 
         /// <summary>
         /// Gets the metadata of the goal.
@@ -29,10 +31,10 @@ public class Goal : IGoal
         public Metadata Metadata { get; }
 
         /// <summary>
-        /// The <see cref="Intent.Tactics.Tactic" /> used to achieve this <see cref="Goal" />, which is executed during every
+        /// The <see cref="Intent.Tactics.Tactic{TBeliefSet}" /> used to achieve this <see cref="Goal{TBeliefSet}" />, which is executed during every
         /// iteration of the BDI cycle.
         /// </summary>
-        public Tactic Tactic { get; }
+        public ITactic<TBeliefSet> Tactic { get; }
 
         /// <inheritdoc />
         public CompletionStatus Status { get; protected set; }
@@ -68,7 +70,7 @@ public class Goal : IGoal
         /// </param>
         public Goal
         (
-            Tactic tactic,
+            ITactic<TBeliefSet> tactic,
             HeuristicFunction heuristicFunction,
             double epsilon = 0.005d,
             Metadata? metadata = null
@@ -92,10 +94,10 @@ public Goal
         /// <param name="metadata">
         /// Metadata about this goal, used to quickly display the goal in several contexts.
         /// </param>
-        public Goal(Tactic tactic, Func<bool> predicate, double epsilon = 0.005d, Metadata? metadata = null)
+        public Goal(ITactic<TBeliefSet> tactic, Func<TBeliefSet, bool> predicate, double epsilon = 0.005d, Metadata? metadata = null)
         {
             Tactic = tactic;
-            _heuristicFunction = CommonHeuristicFunctions.Boolean(predicate);
+            _heuristicFunction = CommonHeuristicFunctions<TBeliefSet>.Boolean(predicate);
             _epsilon = epsilon;
             Metadata = metadata ?? new Metadata();
         }
@@ -104,7 +106,7 @@ public Goal(Tactic tactic, Func<bool> predicate, double epsilon = 0.005d, Metada
         /// Gets the <see cref="Heuristics" /> of the current state of the game.
         /// </summary>
         /// <remarks>If no heuristics have been calculated yet, they will be calculated first.</remarks>
-        public virtual Heuristics CurrentHeuristics(IBeliefSet beliefSet)
+        public virtual Heuristics CurrentHeuristics(TBeliefSet beliefSet)
             => _currentHeuristics ??= _heuristicFunction.Invoke(beliefSet);
 
         /// <summary>
@@ -114,7 +116,7 @@ public virtual Heuristics CurrentHeuristics(IBeliefSet beliefSet)
         /// </summary>
         /// <returns>An enum representing whether the goal is complete and if so, with what result.</returns>
         /// <seealso cref="_epsilon" />
-        public virtual CompletionStatus GetStatus(IBeliefSet beliefSet)
+        public virtual CompletionStatus GetStatus(TBeliefSet beliefSet)
         {
             Status = CurrentHeuristics(beliefSet).Distance < _epsilon
                 ? CompletionStatus.Success

Aplib.Core/Desire/Goals/IGoal.cs

@@ -4,29 +4,31 @@
 namespace Aplib.Core.Desire.Goals
 {
     /// <summary>
-    /// Defines a goal that can be achieved by a <see cref="Intent.Tactics.Tactic" />.
+    /// Defines a goal that can be achieved by a <see cref="Tactic{TBeliefSet}" />.
     /// </summary>
-    public interface IGoal : ICompletable
+    /// <typeparam name="TBeliefSet">The belief set of the agent.</typeparam>
+    public interface IGoal<in TBeliefSet> : ICompletable
+        where TBeliefSet : IBeliefSet
     {
         /// <summary>
-        /// The <see cref="Intent.Tactics.Tactic" /> used to achieve this <see cref="Goal" />, which is executed during every
+        /// The <see cref="Tactic{TBeliefSet}" /> used to achieve this <see cref="Goal{TBeliefSet}" />, which is executed during every
         /// iteration of the BDI cycle.
         /// </summary>
-        Tactic Tactic { get; }
+        public ITactic<TBeliefSet> Tactic { get; }
 
         /// <summary>
         /// Gets the <see cref="Heuristics" /> of the current state of the game.
         /// </summary>
         /// <remarks>If no heuristics have been calculated yet, they will be calculated first.</remarks>
-        Heuristics CurrentHeuristics(IBeliefSet beliefSet);
+        Heuristics CurrentHeuristics(TBeliefSet beliefSet);
 
         /// <summary>
-        /// Tests whether the goal has been achieved, bases on the <see cref="Goal._heuristicFunction" /> and the
-        /// <see cref="Goal.CurrentHeuristics" />. When the distance of the heuristics is smaller than <see cref="Goal._epsilon" />
+        /// Tests whether the goal has been achieved, based on the <see cref="Goal{TBeliefSet}._heuristicFunction" /> and the
+        /// <see cref="Goal{TBeliefSet}.CurrentHeuristics" />. When the distance of the heuristics is smaller than <see cref="Goal{TBeliefSet}._epsilon" />
         /// , the goal is considered to be completed.
         /// </summary>
         /// <returns>An enum representing whether the goal is complete and if so, with what result.</returns>
-        /// <seealso cref="Goal._epsilon" />
-        CompletionStatus GetStatus(IBeliefSet beliefSet);
+        /// <seealso cref="Goal{TBeliefSet}._epsilon" />
+        CompletionStatus GetStatus(TBeliefSet beliefSet);
     }
 }

Aplib.Core/Desire/IDesireSet.cs

@@ -16,7 +16,7 @@ public interface IDesireSet<in TBeliefSet> : ICompletable
         /// </summary>
         /// <param name="beliefSet">The belief set of the agent.</param>
         /// <returns>The current goal to be fulfilled.</returns>
-        IGoal GetCurrentGoal(TBeliefSet beliefSet);
+        IGoal<TBeliefSet> GetCurrentGoal(TBeliefSet beliefSet);
 
         /// <summary>
         /// Updates the status of this <see cref="IDesireSet{TBeliefSet}"/>.

Aplib.Core/Desire/IGoalStructure.cs

@@ -18,7 +18,7 @@ public interface IGoalStructure<in TBeliefSet> : ICompletable
         /// </summary>
         /// <param name="beliefSet">The belief set of the agent.</param>
         /// <returns>The current goal to be fulfilled.</returns>
-        IGoal GetCurrentGoal(TBeliefSet beliefSet);
+        IGoal<TBeliefSet> GetCurrentGoal(TBeliefSet beliefSet);
 
         /// <summary>
         /// Updates the state of the goal structure.

Aplib.Core/Desire/PrimitiveGoalStructure.cs

@@ -16,16 +16,16 @@ namespace Aplib.Core.Desire
     public class PrimitiveGoalStructure<TBeliefSet> : GoalStructure<TBeliefSet>
         where TBeliefSet : IBeliefSet
     {
-        private readonly IGoal _goal;
+        private readonly IGoal<TBeliefSet> _goal;
 
         /// <summary>
         /// Initializes a new instance of the <see cref="PrimitiveGoalStructure{TBeliefSet}" /> class.
         /// </summary>
         /// <param name="goal">The goal to fulfill.</param>
-        public PrimitiveGoalStructure(IGoal goal) : base(Array.Empty<IGoalStructure<TBeliefSet>>()) => _goal = goal;
+        public PrimitiveGoalStructure(IGoal<TBeliefSet> goal) : base(Array.Empty<IGoalStructure<TBeliefSet>>()) => _goal = goal;
 
         /// <inheritdoc />
-        public override IGoal GetCurrentGoal(TBeliefSet beliefSet) => _goal;
+        public override IGoal<TBeliefSet> GetCurrentGoal(TBeliefSet beliefSet) => _goal;
 
         /// <inheritdoc />
         public override void UpdateStatus(TBeliefSet beliefSet) =>

Aplib.Core/Desire/RepeatGoalStructure.cs

@@ -24,7 +24,7 @@ public RepeatGoalStructure(IGoalStructure<TBeliefSet> goalStructure) : base(
             _currentGoalStructure = goalStructure;
 
         /// <inheritdoc />
-        public override IGoal GetCurrentGoal(TBeliefSet beliefSet) => _currentGoalStructure!.Status switch
+        public override IGoal<TBeliefSet> GetCurrentGoal(TBeliefSet beliefSet) => _currentGoalStructure!.Status switch
         {
             Unfinished or Failure => _currentGoalStructure.GetCurrentGoal(beliefSet),
             _ => FinishRepeat(beliefSet)
@@ -42,7 +42,7 @@ public override void UpdateStatus(TBeliefSet beliefSet)
             };
         }
 
-        private IGoal FinishRepeat(TBeliefSet beliefSet)
+        private IGoal<TBeliefSet> FinishRepeat(TBeliefSet beliefSet)
         {
             Status = Success;
             return _currentGoalStructure!.GetCurrentGoal(beliefSet);

Aplib.Core/Desire/SequentialGoalStructure.cs

@@ -25,17 +25,17 @@ public class SequentialGoalStructure<TBeliefSet> : GoalStructure<TBeliefSet>, ID
         /// Initializes a new instance of the <see cref="SequentialGoalStructure{TBeliefSet}" /> class.
         /// </summary>
         /// <param name="children">The children of the goal structure.</param>
-        public SequentialGoalStructure(IList<IGoalStructure<TBeliefSet>> children) : base(children)
+        public SequentialGoalStructure(params IGoalStructure<TBeliefSet>[] children) : base(children)
         {
-            if (children.Count <= 0)
+            if (children.Length <= 0)
                 throw new ArgumentException("Collection of children is empty", nameof(children));
             _childrenEnumerator = _children.GetEnumerator();
             _childrenEnumerator.MoveNext();
             _currentGoalStructure = _childrenEnumerator.Current;
         }
 
         /// <inheritdoc />
-        public override IGoal GetCurrentGoal(TBeliefSet beliefSet) => _currentGoalStructure!.GetCurrentGoal(beliefSet);
+        public override IGoal<TBeliefSet> GetCurrentGoal(TBeliefSet beliefSet) => _currentGoalStructure!.GetCurrentGoal(beliefSet);
 
         /// <inheritdoc />
         public override void UpdateStatus(TBeliefSet beliefSet)