public List<Action> SplitTaggedConditions(Dictionary<string, List<Predicate>> dTags, List<string> lAlwaysKnown)
{
List<Action> lSplitted = new List<Action>();
CompoundFormula cfPreconditions = new CompoundFormula("and");
HashSet<Predicate> lKnowPreconditions = new HashSet<Predicate>();
if (Preconditions != null)
{
Preconditions.GetAllPredicates(lKnowPreconditions);
cfPreconditions.AddOperand(Preconditions);
foreach (Predicate p in lKnowPreconditions)
if (!lAlwaysKnown.Contains(p.Name))
cfPreconditions.AddOperand(new PredicateFormula(new KnowPredicate(p)));
}
if (Effects != null)
{
List<CompoundFormula> lConditions = new List<CompoundFormula>();
List<Formula> lObligatory = new List<Formula>();
SplitEffects(lConditions, lObligatory);
HashSet<Predicate> lKnowEffects = new HashSet<Predicate>();
CompoundFormula cfGeneralEffects = new CompoundFormula("and");
foreach (Formula f in lObligatory)
{
f.GetAllPredicates(lKnowEffects);
cfGeneralEffects.AddOperand(f);
}
foreach (Predicate p in lKnowEffects)
if (!lAlwaysKnown.Contains(p.Name))
cfGeneralEffects.AddOperand(new PredicateFormula(new KnowPredicate(p)));
int iCondition = 0;
foreach (CompoundFormula cfCondition in lConditions)
{
Action aNew = new Action(Name + "_" + iCondition);
aNew.Preconditions = cfPreconditions.Clone();
CompoundFormula cfEffects = (CompoundFormula)cfGeneralEffects.Clone();
cfEffects.AddOperand(cfCondition);
cfEffects.AddOperand(CreateKnowledgeGainCondition(cfCondition, lAlwaysKnown));
cfEffects.AddOperand(CreateKnowledgeLossCondition(cfCondition, lAlwaysKnown));
foreach (string sTag in dTags.Keys)
{
cfEffects.AddOperand(CreateTaggedKnowledgeGainCondition(cfCondition, sTag, lAlwaysKnown, false));
cfEffects.AddOperand(CreateTaggedKnowledgeLossCondition(cfCondition, sTag, lAlwaysKnown));
}
aNew.Effects = cfEffects;
iCondition++;
lSplitted.Add(aNew);
}
}
if (Observe != null)
{
throw new NotImplementedException();
}
return lSplitted;
}
private void RemoveDisjunctions(Action a, List<List<Formula>> lOptions, int iOption, CompoundFormula cfAnd, List<Action> lNoDisjunctions, ref int iIndex)
{
if (iOption == lOptions.Count)
{
Action aNew = a.Clone();
aNew.Name += "." + iIndex;
iIndex++;
aNew.Preconditions = cfAnd;
lNoDisjunctions.Add(aNew);
}
else
{
foreach (Formula fOption in lOptions[iOption])
{
CompoundFormula cfNew = (CompoundFormula)cfAnd.Clone();
cfNew.AddOperand(fOption);
RemoveDisjunctions(a, lOptions, iOption + 1, cfNew, lNoDisjunctions, ref iIndex);
}
}
}
public List<Action> SplitConditionalEffects(out CompoundFormula cfObligatory)
{
List<Action> lSplit = new List<Action>();
List<CompoundFormula> lConditions = new List<CompoundFormula>();
List<Formula> lObligatory = new List<Formula>();
SplitEffects(lConditions, lObligatory);
cfObligatory = new CompoundFormula("and");
foreach (Formula fSub in lObligatory)
{
cfObligatory.AddOperand(fSub);
}
int cActions = 1;
foreach (CompoundFormula cfCondition in lConditions)
{
Action a = new Action(Name + cActions);
cActions++;
CompoundFormula cfPreconditions = new CompoundFormula("and");
if( Preconditions != null )
cfPreconditions.AddOperand(Preconditions.Clone());
cfPreconditions.AddOperand(cfCondition.Operands[0]);
CompoundFormula cfEffects = new CompoundFormula("and");
cfEffects.AddOperand(cfObligatory.Clone());
cfEffects.AddOperand(cfCondition.Operands[1]);
a.Preconditions = cfPreconditions;
a.Effects = cfEffects;
if(a.Observe != null)
a.Observe = Observe.Clone();
lSplit.Add(a);
}
return lSplit;
}
