我说上个问题写出更新后的全部代码

您提到的“上个问题”并没有提供具体的背景或上下文信息，因此我无法直接给出相应的代码。不过，根据您的要求，如果您需要更新后的全部代码，请明确指出是哪个部分的代码以及具体的需求和改动点。例如：

1. **是否是指 `A* Search` 部分的 Java 代码？**
2. **还是指 `Automated Planning` 部分的 PDDL 代码？**

请您提供更多详细信息，以便我能更准确地帮助您。以下是两个部分的基本结构和示例代码，供参考：

### A* Search - Java 实现

#### 1. 定义状态类 (`State.java`)

package uk.ac.hw.macs.search;

public class State {
    private int x;
    private int y;
    private int gCost; // Cost from start to current node
    private int hCost; // Heuristic cost from current node to goal
    private State parent;

    public State(int x, int y, int gCost, int hCost, State parent) {
        this.x = x;
        this.y = y;
        this.gCost = gCost;
        this.hCost = hCost;
        this.parent = parent;
    }

    public boolean isGoal() {
        // Check if this state is the goal state
        return x == goalX && y == goalY;
    }

    public int getHeuristic() {
        // Calculate Manhattan distance heuristic
        return Math.abs(x - goalX) + Math.abs(y - goalY);
    }

    // Getters and setters
}

#### 2. 定义搜索顺序类 (`AStarSearchOrder.java`)

package uk.ac.hw.macs.search;

import java.util.PriorityQueue;
import java.util.Comparator;

public class AStarSearchOrder implements SearchOrder {
    private PriorityQueue<Node> fringe;

    public AStarSearchOrder() {
        fringe = new PriorityQueue<>(Comparator.comparingInt(Node::getFCost));
    }

    @Override
    public void addToFringe(Set<Node> nodes) {
        for (Node node : nodes) {
            fringe.add(node);
        }
    }

    public Node pop() {
        return fringe.poll();
    }

    public boolean isEmpty() {
        return fringe.isEmpty();
    }
}

### Automated Planning - PDDL 实现

#### 1. 域文件 (`windfarm-domain.pddl`)

(define (domain windfarm)
    (:requirements :strips :typing)
    (:types
        uuv - object
        location - object
        ship - object
    )
    (:predicates
        (at ?uuv - uuv ?loc - location)
        (connected ?from - location ?to - location)
        (has-image ?uuv - uuv)
        (has-sonar-data ?uuv - uuv)
        (sample-collected ?uuv - uuv ?loc - location)
    )
    (:action deploy-uuv
        :parameters (?uuv - uuv ?ship - ship ?loc - location)
        :precondition (and (at ?uuv ?ship))
        :effect (and (not (at ?uuv ?ship)) (at ?uuv ?loc))
    )
    (:action move-to
        :parameters (?uuv - uuv ?from - location ?to - location)
        :precondition (and (at ?uuv ?from) (connected ?from ?to))
        :effect (and (not (at ?uuv ?from)) (at ?uuv ?to))
    )
    (:action take-image
        :parameters (?uuv - uuv ?loc - location)
        :precondition (and (at ?uuv ?loc))
        :effect (and (has-image ?uuv))
    )
    (:action take-sonar-data
        :parameters (?uuv - uuv ?loc - location)
        :precondition (and (at ?uuv ?loc))
        :effect (and (has-sonar-data ?uuv))
    )
    (:action transmit-data
        :parameters (?uuv - uuv ?ship - ship)
        :precondition (and (at ?uuv ?loc) (has-image ?uuv) (has-sonar-data ?uuv))
        :effect (and (not (has-image ?uuv)) (not (has-sonar-data ?uuv)))
    )
    (:action collect-sample
        :parameters (?uuv - uuv ?loc - location)
        :precondition (and (at ?uuv ?loc))
        :effect (and (sample-collected ?uuv ?loc))
    )
)

#### 2. 问题实例文件 (`windfarm-problem1.pddl`)

(define (problem windfarm-mission-1)
    (:domain windfarm)
    (:objects
        uuv1 - uuv
        ship1 - ship
        loc1 loc2 loc3 loc4 - location
    )
    (:init
        (at uuv1 ship1)
        (connected ship1 loc1)
        (connected loc1 loc2)
        (connected loc2 loc3)
        (connected loc2 loc4)
    )
    (:goal
        (and
            (has-image uuv1)
            (has-sonar-data uuv1)
        )
    )
)

如果您有特定的修改需求或遇到的问题，请详细说明，我会尽力提供帮助。