public void AddInitialStateFormula(CompoundFormula cf)
{
if (false && !cf.IsSimpleFormula())
{
CompoundFormula cfCNF = (CompoundFormula)cf.ToCNF();
foreach (CompoundFormula cfSub in cfCNF.Operands)
AddInitialStateFormula(cfSub);
return;
}
m_lOriginalHiddenFormulas.Add(cf);
m_lHiddenFormulas.Add((CompoundFormula)cf);
EfficientFormula ef = new EfficientFormula(cf.Operator);
ef.OriginalFormula = cf;
m_lEfficientHidden.Add(ef);
HashSet<Predicate> lHidden = cf.GetAllPredicates();
foreach (Predicate p in lHidden)
{
GroundedPredicate pCanonical = (GroundedPredicate)p.Canonical();
if (!Unknown.Contains(pCanonical))
Unknown.Add(pCanonical);
if (!m_dMapPredicatesToFormulas.ContainsKey(pCanonical))
{
m_dMapPredicatesToFormulas[pCanonical] = new List<int>();
int iIndex = m_dMapIndexToPredicate.Count;
m_dMapIndexToPredicate.Add(pCanonical);
m_dMapPredicatesToIndexes[pCanonical] = iIndex;
m_dMapPredicateToEfficientFormula.Add(new List<int>());
}
int iPredicate = m_dMapPredicatesToIndexes[pCanonical];
ef.SetVariableValue(iPredicate, !p.Negation);
m_dMapPredicateToEfficientFormula[iPredicate].Add(m_lEfficientHidden.Count - 1);
m_dMapPredicatesToFormulas[pCanonical].Add(m_lHiddenFormulas.Count - 1);
}
m_cfCNFHiddenState.AddOperand(cf);
if (!cf.IsSimpleConjunction() && !cf.IsSimpleOneOf() && SDRPlanner.EnforceCNF)
{
m_cfCNFHiddenState = (CompoundFormula)m_cfCNFHiddenState.ToCNF();
}
}
