private List<Action> RemoveConditions(List<Action> lActions)
{
List<Action> lNoConditions = new List<Action>();
foreach (Action a in lActions)
{
HashSet<Predicate> lMandatory = a.GetMandatoryEffects();
List<CompoundFormula> lConditions = a.GetConditions();
if (lConditions.Count == 0)
{
lNoConditions.Add(a);
}
else
{
int iCondition = 0;
foreach (CompoundFormula cfCondition in lConditions)
{
Action aNew = new Action(a.Name + "." + iCondition);
CompoundFormula cfPreconditions = new CompoundFormula("and");
cfPreconditions.AddOperand(a.Preconditions);
cfPreconditions.AddOperand(cfCondition.Operands[0]);
if (!cfPreconditions.IsFalse(null))
{
aNew.Preconditions = cfPreconditions;
CompoundFormula cfEffects = new CompoundFormula("and");
cfEffects.AddOperand(cfCondition.Operands[1]);
foreach (Predicate p in lMandatory)
cfEffects.AddOperand(p);
aNew.Effects = cfEffects;
lNoConditions.Add(aNew);
iCondition++;
}
}
}
}
return lNoConditions;
}
public override Formula PartiallyGround(Dictionary<string, Constant> dBindings)
{
CompoundFormula cfGrounded = new CompoundFormula(Operator);
foreach (Formula fSub in Operands)
{
Formula fGrounded = fSub.PartiallyGround(dBindings);
if (fGrounded is PredicateFormula)
{
Predicate p = ((PredicateFormula)fGrounded).Predicate;
if (p.Name == Domain.TRUE_PREDICATE)
{
if (Operator == "and")
continue;
else if (Operator == "or")
return fGrounded;
else
throw new NotImplementedException();
}
if (p.Name == Domain.FALSE_PREDICATE)
{
if (Operator == "and")
return fGrounded;
else if (Operator == "or")
continue;
else if (Operator == "when")
{
return null;
}
else
throw new NotImplementedException();
}
}
cfGrounded.AddOperand(fGrounded);
if (cfGrounded.IsFalse(null))
return new PredicateFormula(new GroundedPredicate(Domain.FALSE_PREDICATE));
}
return cfGrounded;
}
