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);
}
}
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);
}