public static KnowledgeHolder create(PAD.Planner.PDDL.Problem problem)
{
KnowledgeHolder h = new KnowledgeHolder();
h.predConstGraph = new PredicateConstantGraph(problem);
return(h);
}
public static void visualizePDDLKnowledgeGraphs(string PDDLDomainFile, string PDDLProblemFile)
{
var problem = new PAD.Planner.PDDL.Problem(PDDLDomainFile, PDDLProblemFile);
KnowledgeHolder h = KnowledgeHolder.create(problem);
h.visualize();
}
/// <summary>
/// Gets SaSproblem and produces a PDDLProblem description that
/// is equivalent to current SASState. It returns content of a PDDL problem file (that when parsed would have the same initial state as the SaSProblem.
/// </summary>
/// <param name="p"></param>
/// <param name="s"></param>
/// <returns></returns>
public static PAD.Planner.PDDL.Problem translateSASProblemToPDDL(PAD.Planner.SAS.Problem s)
{
var pddlProblemPath = PADDUtils.FileSystemUtils.getPDDLProblemPath(s.GetInputFilePath());
string originalText = System.IO.File.ReadAllText(pddlProblemPath.problemFile).Replace("(:INIT", "(:init");
string PDDLStateInitRegion = originalText.Split(new string[] { "(:init" }, StringSplitOptions.RemoveEmptyEntries).Skip(1).First().
Split(new string[] { "(:" }, StringSplitOptions.RemoveEmptyEntries).First();
List <string> predicates = PDDLStateInitRegion.Split('(').Select(r => r.Replace(")", "").Trim()).Where(q => !string.IsNullOrWhiteSpace(q)).ToList();
predicates = predicates.Select(q =>
{
int firstSpace = q.IndexOf(" ");
if (firstSpace < 0)
{
firstSpace = q.Length;
return(q.Insert(firstSpace, "("));
}
else
{
return(q.Remove(firstSpace, 1).Insert(firstSpace, "("));
}
}).Select(q => q.Replace(" ", ", ") + ")").ToList();
List <string> newPredicates = new List <string>();
var initialState = s.InitialState;
for (int i = 0; i < initialState.GetAllValues().Length; i++)
{
List <string> corresponding = predicates.Where(q => s.Variables[i].Values.Contains("Atom " + q.ToLower())).ToList();
predicates.RemoveAll(p => corresponding.Contains(p));
newPredicates.Add(s.Variables[i].Values[initialState.GetAllValues()[i]]);
}
predicates.AddRange(newPredicates.Where(x => x.Substring(0, "Atom ".Length) == "Atom "));
predicates = predicates.Select(p => p.Replace("Atom ", "").Replace("(", " ").Replace(",", "").Replace(")", "").Trim()).ToList();
string tempFileName = System.IO.Path.GetTempFileName();
string text = originalText.Split(new string[] { "(:init" }, StringSplitOptions.RemoveEmptyEntries).First() + "(:init\n";
text += string.Join("\n", predicates.Select(q => "\t(" + q + ")"));
text += "\n)\n(:";
text += string.Join("(:", originalText.Split(new string[] { "(:init" }, StringSplitOptions.RemoveEmptyEntries).Skip(1).First().Split(new string[] { "(:" }, StringSplitOptions.RemoveEmptyEntries).Skip(1));
System.IO.File.WriteAllText(tempFileName, text);
var result = new PAD.Planner.PDDL.Problem(pddlProblemPath.domainFile, tempFileName);
System.IO.File.Delete(tempFileName);
return(result);
}
public void Train(PAD.Planner.PDDL.Problem p)
{
}