// This method sobsitutes the new parameters in the precondition or postconditions of an action
// since they're bot collections of IRelations, which deal with entities and not ActionParameters
// we need to cast them before passing them to this method
private HashSet <IRelation> sobstituteEntitiesInConditions(Dictionary <Entity, Entity> sobstitutions, HashSet <IRelation> conditions)
{
HashSet <IRelation> newConditions = new HashSet <IRelation>();
foreach (IRelation item in conditions)
{
if (item.GetType() == typeof(UnaryRelation))
{
UnaryRelation ur = item as UnaryRelation;
Entity source;
if (sobstitutions.TryGetValue(ur.Source, out source))
{
newConditions.Add(new UnaryRelation(source, ur.Predicate, ur.Value));
}
}
else if (item.GetType() == typeof(BinaryRelation))
{
BinaryRelation br = item as BinaryRelation;
Entity source, destination;
if (sobstitutions.TryGetValue(br.Source, out source) && sobstitutions.TryGetValue(br.Destination, out destination))
{
newConditions.Add(new BinaryRelation(source, br.Predicate, destination, br.Value));
}
}
}
return(newConditions);
}
private void checkVariableInRelation(HashSet <IRelation> relations, HashSet <Entity> parameters)
{
foreach (IRelation r in relations)
{
if (r.GetType() == typeof(BinaryRelation))
{
BinaryRelation br = r as BinaryRelation;
if (parameters.Contains(br.Source) == false)
{
throw new System.ArgumentException("ActionDefinition: One variable of pre or post condition is not inside parameter set", "HashSet<ActionParameter> parameters: " + br.Source.Name + " is missing");
}
if (parameters.Contains(br.Destination) == false)
{
throw new System.ArgumentException("ActionDefinition: One variable of pre or post condition is not inside parameter set", "HashSet<ActionParameter> parameters: " + br.Destination.Name + " is missing");
}
}
else if (r.GetType() == typeof(UnaryRelation))
{
UnaryRelation ur = r as UnaryRelation;
if (parameters.Contains(ur.Source) == false)
{
throw new System.ArgumentException("ActionDefinition: One variable of pre or post condition is not inside parameter set", "HashSet<ActionParameter> parameters: " + ur.Source.Name + " is missing");
}
}
}
}
public override bool Equals(object obj)
{
if (obj == null)
{
return(false);
}
if (obj.GetType() != typeof(BinaryRelation))
{
return(false);
}
BinaryRelation other = obj as BinaryRelation;
if (other.Source.Equals(_source) == false)
{
return(false);
}
if (other.Predicate.Equals(_predicate) == false)
{
return(false);
}
if (other.Destination.Equals(_destination) == false)
{
return(false);
}
if (other.Value.Equals(_value) == false)
{
return(false);
}
return(true);
}
public bool EqualsWithoutValue(IRelation other)
{
if (other == null)
{
return(false);
}
if (other.GetType() != typeof(BinaryRelation))
{
return(false);
}
BinaryRelation otherRelation = other as BinaryRelation;
if (_source.Equals(otherRelation.Source) == false)
{
return(false);
}
if (_predicate.Equals(otherRelation.Predicate) == false)
{
return(false);
}
if (_destination.Equals(otherRelation.Destination) == false)
{
return(false);
}
return(true);
}
// Use this for initialization
void Start()
{
flag = false;
EntityType character = new EntityType("CHARACTER");
EntityType location = new EntityType("LOCATION");
//(can-move ?from-l1 ?to-l2)
BinaryPredicate isConnectedTo = new BinaryPredicate(location, "IS_CONNECTED_TO", location);
//(at ?characther ?location)
BinaryPredicate at = new BinaryPredicate(character, "AT", location);
//(been-at ?characther ?location)
BinaryPredicate beenAt = new BinaryPredicate(character, "BEEN_AT", location);
// MOVE ACTION
// Parameters
Entity character1 = new Entity(character, "CHARACTER1");
Entity location1 = new Entity(location, "LOCATION1");
Entity location2 = new Entity(location, "LOCATION2");
HashSet <Entity> moveActionParameters = new HashSet <Entity>();
moveActionParameters.Add(character1);
moveActionParameters.Add(location1);
moveActionParameters.Add(location2);
// Preconditions
HashSet <IRelation> moveActionPreconditions = new HashSet <IRelation>();
BinaryRelation characterAtL1 = new BinaryRelation(character1, at, location1, RelationValue.TRUE);
moveActionPreconditions.Add(characterAtL1);
BinaryRelation isConnectedFromL1ToL2 = new BinaryRelation(location1, isConnectedTo, location2, RelationValue.TRUE);
moveActionPreconditions.Add(isConnectedFromL1ToL2);
// Postconditions
HashSet <IRelation> moveActionPostconditions = new HashSet <IRelation>();
BinaryRelation notCharacterAtL1 = new BinaryRelation(character1, at, location1, RelationValue.FALSE);
moveActionPostconditions.Add(notCharacterAtL1);
BinaryRelation characterAtL2 = new BinaryRelation(character1, at, location2, RelationValue.TRUE);
moveActionPostconditions.Add(characterAtL2);
BinaryRelation characterBeenAtL1 = new BinaryRelation(character1, beenAt, location1, RelationValue.TRUE);
moveActionPostconditions.Add(characterBeenAtL1);
// TODO: fix this
// Action moveAction = new Action(moveActionPreconditions, "MOVE", moveActionParameters, moveActionPostconditions);
// actions.Add(moveAction);
}
public BinaryRelation generateRelationFromPredicateName(string name, Entity source, Entity destination, RelationValue value)
{
BinaryRelation relation = null;
BinaryPredicate bp = null;
IPredicate p = getPredicate(name);
if (p.GetType() == typeof(BinaryPredicate))
{
bp = p as BinaryPredicate;
relation = new BinaryRelation(source, bp, destination, value);
}
else
{
throw new System.ArgumentException("The specified Predicate name is not BinaryPredicate", "generateRelationFromPredicateName(name, source, destination)");
}
return(relation);
}
public override string ToString()
{
string value = "Action: " + _name + "(";
foreach (ActionParameter item in _parameters)
{
value += item.Name + " ,";
}
value += ") \nPRECONDITION:\n";
foreach (IRelation r in _preConditions)
{
if (r.GetType() == typeof(UnaryRelation))
{
UnaryRelation ur = r as UnaryRelation;
value += ur.ToString() + "\n";
}
else if (r.GetType() == typeof(BinaryRelation))
{
BinaryRelation br = r as BinaryRelation;
value += br.ToString() + "\n";
}
}
value += "POSTCONDITION:\n";
foreach (IRelation r in _postConditions)
{
if (r.GetType() == typeof(UnaryRelation))
{
UnaryRelation ur = r as UnaryRelation;
value += ur.ToString() + "\n";
}
else if (r.GetType() == typeof(BinaryRelation))
{
BinaryRelation br = r as BinaryRelation;
value += br.ToString() + "\n";
}
}
return(value);
}
public void addRelation(IRelation r)
{
if (_relations.Contains(r))
{
throw new System.ArgumentException("Relation is already defined in the current state", r.ToString());
}
if (r.GetType() == typeof(UnaryRelation))
{
UnaryRelation ur = r as UnaryRelation;
// check that the source entitiy in the relation is already part of the state
if (_entities.Contains(ur.Source) == false)
{
throw new System.ArgumentException("Relation source " + ur.Source + " does not exist in this state");
}
// check that all the predicate in the relation is defined in the domain
if (_domain.Predicates.Contains(ur.Predicate) == false)
{
throw new System.ArgumentException("Relation predicate " + ur.Predicate + " does not exist in this domain");
}
}
if (r.GetType() == typeof(BinaryRelation))
{
BinaryRelation br = r as BinaryRelation;
// check that the source and destination entitiy in the relation is already part of the state
if (_entities.Contains(br.Source) == false)
{
throw new System.ArgumentException("Relation source " + br.Source + " does not exist in this state");
}
if (_entities.Contains(br.Destination) == false)
{
throw new System.ArgumentException("Relation destination " + br.Destination + " does not exist in this state");
}
// check that all the predicate in the relation is defined in the domain
if (_domain.Predicates.Contains(br.Predicate) == false)
{
throw new System.ArgumentException("Relation predicate " + br.Predicate + " does not exist in this domain");
}
}
_relations.Add(r);
}
