public static List <IPredicate> PredicateBinder(Hashtable objectTypes, IPredicate predicate, int termLocation)
{
List <IPredicate> predicateList = new List <IPredicate>();
if (termLocation >= predicate.Terms.Count)
{
return new List <IPredicate> {
predicate
}
}
;
if (!objectTypes.ContainsKey(predicate.TermAt(termLocation).Type))
{
return(new List <IPredicate>());
}
foreach (string obj in objectTypes[predicate.TermAt(termLocation).Type] as List <string> )
{
Predicate newPredicate = predicate.Clone() as Predicate;
newPredicate.BindTerm(obj, termLocation);
predicateList.AddRange(PredicateBinder(objectTypes, newPredicate, termLocation + 1));
}
return(predicateList);
}
// Check to see if a predicate is true in the current state.
public bool InState(IPredicate predicate)
{
if (predicate.Sign)
{
if (table.ContainsKey(predicate))
{
return((bool)table[predicate]);
}
else
{
return(false);
}
}
else
{
Predicate reversed = predicate.Clone() as Predicate;
reversed.Sign = true;
if (table.ContainsKey(reversed))
{
return(!(bool)table[reversed]);
}
else
{
return(true);
}
}
}
public OpenCondition Clone()
{
var oc = new OpenCondition(precondition.Clone() as IPredicate, step.Clone() as IPlanStep)
{
risks = risks,
isInit = isInit,
isStatic = isStatic,
cndts = cndts
};
return(oc);
}
public OpenCondition Clone()
{
var oc = new OpenCondition(precondition.Clone() as IPredicate, step.Clone() as IPlanStep)
{
risks = risks,
isInit = isInit,
isStatic = isStatic,
cndts = cndts,
addReuseHeuristic = addReuseHeuristic,
hasDummyInit = hasDummyInit,
isDummyGoal = isDummyGoal
};
return(oc);
}
// Returns a bound copy of the predicate.
public Predicate GetBoundPredicate()
{
Predicate boundPred = (Predicate)predicate.Clone();
return(boundPred);
}