private List <Tuple <Ground <Predicate>, bool> > GenerateLiteralList(CUDDNode node, GroundAction gndAction)
{
List <Tuple <Ground <Predicate>, bool> > result = new List <Tuple <Ground <Predicate>, bool> >();
foreach (var cEffect in gndAction.Effect)
{
CUDDNode impliesNode = CUDD.Function.Implies(node, cEffect.Item1);
if (impliesNode.GetValue() > 0.5)
{
result.AddRange(cEffect.Item2);
}
}
return(result);
}
public void Update(GroundAction gndAction)
{
CUDDNode kbNode = GetKnowledgeBase();
CUDDNode preconditionNode = CUDD.Function.Implies(kbNode, gndAction.Precondition);
CUDD.Print.PrintMinterm(kbNode);
if (preconditionNode.GetValue() > 0.5)
{
var gndLiteralList = GenerateLiteralList(kbNode, gndAction);
UpdateByLiteralList(gndLiteralList);
CUDD.Deref(kbNode);
}
else
{
Console.WriteLine(" Action {0} is not executable now!", gndAction);
}
}