private List <string> DeriveVariables(HSPOperator _op)
{
List <string> list = new List <string>();
for (var j = 0; j < _op._params.Count; j++)
{
list.Add(_op._params[j].GetName());
}
return(list);
}
private HSPAction ConvertOperatorIntoAction(HSPOperator _operator, Dictionary <string, string> _subst)
{
List <string> args = new List <string>();
List <HSPPredicate> preconditions = new List <HSPPredicate>();
List <HSPPredicate> posEffects = new List <HSPPredicate>();
List <HSPPredicate> negEffects = new List <HSPPredicate>();
foreach (HSPTerm param in _operator._params)
{
string arg = _subst[param.GetName()];
args.Add(arg);
}
foreach (HSPLiteral _precondition in _operator._preconditions)
{
bool positive = _precondition.isPositive();
if (positive)
{
HSPPredicate ground = _precondition._predicate.GroundToConstant(_subst);
preconditions.Add(ground);
}
}
foreach (HSPLiteral effect in _operator._effects)
{
//Ground converts variable to constant for each operation effect
HSPPredicate ground = effect._predicate.GroundToConstant(_subst);
if (effect.isPositive())
{
//posEffects.Add(ground.GetString());
posEffects.Add(ground);
}
else if (effect.isNegative())
{
//negEffects.Add(ground.GetString());
negEffects.Add(ground);
}
}
return(new HSPAction(_operator._name, args, preconditions, posEffects, negEffects));
}
private List <HashSet <string> > DeriveObjects(HSPOperator _op, List <HSPPredicate> _objects)
{
List <HashSet <string> > list = new List <HashSet <string> >();
for (var i = 0; i < _op._params.Count; i++)
{
string type = _op._params[i].GetTermType();
HashSet <string> group = new HashSet <string>();
for (var j = 0; j < _objects.Count; j++)
{
if (_objects[j].GetName() == type)
{
List <HSPTerm> _args = _objects[j].GetArgs();
group.Add(_args[0].GetName());
}
}
list.Add(group);
}
return(list);
}