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);
}