private void AddKnowledgePredicatesToExistingActions(Domain d, List <Predicate> lKnowPredicates)
{
Actions = new List <Action>();
ParametrizedAction aRevised = null;
foreach (Action a in d.Actions)
{
aRevised = new ParametrizedAction(a.Name);
aRevised.Preconditions = AddKnowledgePredicatesToFormula(a.Preconditions, lKnowPredicates);
CompoundFormula cfEffects = null;
if (a.Effects != null)
{
cfEffects = AddKnowledgePredicatesToFormula(a.Effects, lKnowPredicates);
}
else
{
cfEffects = new CompoundFormula("and");
}
if (a.Observe != null)
{
List <Predicate> lPredicates = GetAllPredicates(a.Observe);
foreach (Predicate p in lPredicates)
{
cfEffects.AddOperand(new PredicateFormula(new KnowPredicate(p)));
}
}
aRevised.SetEffects(cfEffects);
Actions.Add(aRevised);
}
}
private Action ReadAction(CompoundExpression exp, Domain d)
{
string sName = exp.SubExpressions[0].ToString();
Action pa = null;
int iExpression = 0;
for (iExpression = 1; iExpression < exp.SubExpressions.Count; iExpression++)
{
if (exp.SubExpressions[iExpression].ToString() == ":parameters")
{
CompoundExpression ceParams = (CompoundExpression)exp.SubExpressions[iExpression + 1];
if (ceParams.Type != "N/A")
{
pa = new ParametrizedAction(sName);
ReadParameters((CompoundExpression)exp.SubExpressions[iExpression + 1], (ParametrizedAction)pa);
}
iExpression++;
}
else if (exp.SubExpressions[iExpression].ToString() == ":effect")
{
if (pa == null)
{
pa = new Action(sName);
}
ReadEffect((CompoundExpression)exp.SubExpressions[iExpression + 1], pa, d, pa is ParametrizedAction);
iExpression++;
}
else if (exp.SubExpressions[iExpression].ToString() == ":precondition")
{
if (pa == null)
{
pa = new Action(sName);
}
ReadPrecondition((CompoundExpression)exp.SubExpressions[iExpression + 1], pa, d, pa is ParametrizedAction);
iExpression++;
}
else if (exp.SubExpressions[iExpression].ToString() == ":observe")
{
if (pa == null)
{
pa = new Action(sName);
}
ReadObserve((CompoundExpression)exp.SubExpressions[iExpression + 1], pa, d, pa is ParametrizedAction);
iExpression++;
}
}
return(pa);
}
public override Action Clone()
{
ParametrizedAction aNew = new ParametrizedAction(Name);
aNew.Parameters = Parameters;
if (Preconditions != null)
{
aNew.Preconditions = Preconditions.Clone();
}
if (Effects != null)
{
aNew.SetEffects(Effects.Clone());
}
if (Observe != null)
{
aNew.Observe = Observe.Clone();
}
aNew.HasConditionalEffects = HasConditionalEffects;
aNew.ContainsNonDeterministicEffect = ContainsNonDeterministicEffect;
return(aNew);
}
private void ReadParameters(CompoundExpression exp, ParametrizedAction pa)
{
//unfortunately, expressions have a weird non standard structure with no type - (?i - pos ?j - pos )
//so we must have a special case
List <string> lTokens = exp.ToTokenList();
List <string> lNames = new List <string>();
string sType = "";
int iCurrent = 0;
while (iCurrent < lTokens.Count)
{
if (lTokens[iCurrent] == "-")
{
sType = lTokens[iCurrent + 1];
foreach (string sName in lNames)
{
pa.AddParameter(new Parameter(sType, sName));
}
lNames = new List <string>();
sType = "";
iCurrent += 2;
}
else
{
lNames.Add(lTokens[iCurrent]);
iCurrent++;
}
}
if (lNames.Count != 0) //allowing no types specified
{
foreach (string sName in lNames)
{
pa.AddParameter(new Parameter("OBJ", sName));
}
}
}