/// <summary>
/// Processes forall effects.
/// </summary>
/// <param name="expression">Conditions expression in CNF.</param>
/// <returns>Tuple of two values, where the first is true when the positive relevance condition (inclusion) is satisfied, while the second is
/// true when the negative condition (exclusion) is not violated. False otherwise.</returns>
private Tuple <bool, bool> ProcessForallEffects(ConditionsCNF expression)
{
bool positiveCondition = false;
bool negativeCondition = true;
foreach (var forallEffect in Effects.ForallEffects)
{
EffectsRelevanceConditionsEvaluator evaluator = new EffectsRelevanceConditionsEvaluator(forallEffect.Effects, GroundingManager);
IEnumerable <ISubstitution> localSubstitutions = GroundingManager.GenerateAllLocalSubstitutions(forallEffect.Parameters);
foreach (var localSubstitution in localSubstitutions)
{
OperatorSubstitution.AddLocalSubstitution(localSubstitution);
var result = evaluator.EvaluateWithExtendedResult(expression, OperatorSubstitution, null);
positiveCondition |= result.Item1;
negativeCondition &= result.Item2;
OperatorSubstitution.RemoveLocalSubstitution(localSubstitution);
if (!negativeCondition)
{
return(result);
}
}
}
return(Tuple.Create(positiveCondition, true));
}
/// <summary>
/// Applies backwards the relevant operator effects and operator preconditions to the given target conditions.
/// </summary>
/// <param name="conditions">Target conditions to be modified.</param>
/// <param name="operatorSubstitution">Variables substitution.</param>
/// <returns>Preceding conditions.</returns>
public IConditions ApplyBackwards(IConditions conditions, ISubstitution operatorSubstitution)
{
ConditionsCNF expression = (ConditionsCNF)conditions?.GetCNF();
if (expression == null)
{
return(null);
}
OperatorSubstitution = operatorSubstitution;
Effects.GroundEffectsByCurrentOperatorSubstitution(GroundingManager, operatorSubstitution);
if (expression.Parameters != null)
{
EffectsRelevanceConditionsEvaluator evaluator = new EffectsRelevanceConditionsEvaluator(Effects, GroundingManager);
List <ConditionsCNF> subResults = new List <ConditionsCNF>();
IEnumerable <ISubstitution> expressionSubstitutions = GroundingManager.GenerateAllLocalSubstitutions(expression.Parameters);
expression.Parameters = null;
foreach (var expressionSubstitution in expressionSubstitutions)
{
// do backward apply only when the effects are relevant to the current grounding of the expression
if (evaluator.Evaluate(expression, operatorSubstitution, expressionSubstitution))
{
subResults.Add(ApplyBackwardsImpl(expression, expressionSubstitution));
}
}
return(ConstructCNFFromDisjunction(subResults));
}
return(ApplyBackwardsImpl(expression, new Substitution()));
}
/// <summary>
/// Processes conditional (when) effects.
/// </summary>
/// <param name="expression">Conditions expression in CNF.</param>
/// <param name="relevantConditionalEffects">Output indices of relevant conditional effects (can be null).</param>
/// <returns>Tuple of two values, where the first is true when the positive relevance condition (inclusion) is satisfied, while the second is
/// true when the negative condition (exclusion) is not violated. False otherwise.</returns>
private Tuple <bool, bool> ProcessWhenEffects(ConditionsCNF expression, IList <int> relevantConditionalEffects)
{
bool positiveCondition = false;
int whenEffectIndex = -1;
foreach (var whenEffect in Effects.WhenEffects)
{
++whenEffectIndex;
List <IEffect> subEffects = new List <IEffect>();
whenEffect.Effects.ForEach(subEffect => subEffects.Add(subEffect));
EffectsRelevanceConditionsEvaluator evaluator = new EffectsRelevanceConditionsEvaluator(subEffects, GroundingManager);
var result = evaluator.EvaluateWithExtendedResult(expression, OperatorSubstitution, ExpressionSubstitution, relevantConditionalEffects);
if (!result.Item2)
{
continue;
}
if (result.Item1 && result.Item2)
{
relevantConditionalEffects?.Add(whenEffectIndex);
}
positiveCondition |= result.Item1;
}
return(Tuple.Create(positiveCondition, true));
}
/// <summary>
/// Processes conditional (when) effects.
/// </summary>
/// <param name="expression">Conditions expression in CNF.</param>
private ConditionsCNF ProcessWhenEffects(ConditionsCNF expression)
{
if (Effects.WhenEffects.Count == 0)
{
return(expression);
}
// Collect the relevant when effects, first
List <WhenEffect> relevantWhenEffects = GetRelevantWhenEffectsForConditions(expression);
// Each of the relevant when effect is either used or not (dynamic programming approach to get all combinations of when effects usage)
List <ConditionsCNF> applicationResults = new List <ConditionsCNF> {
expression
};
foreach (var whenEffect in relevantWhenEffects)
{
Conditions whenCondition = new Conditions(whenEffect.Expression, EvaluationManager);
EffectsBackwardsConditionsApplier innerApplier = new EffectsBackwardsConditionsApplier(whenCondition, new List <IEffect>(whenEffect.Effects), EvaluationManager);
List <ConditionsCNF> currentEffectApplications = new List <ConditionsCNF>();
foreach (var currentCondition in applicationResults)
{
ConditionsCNF modifiedCondition = (ConditionsCNF)innerApplier.ApplyBackwards(currentCondition, new Substitution());
currentEffectApplications.Add(modifiedCondition);
}
applicationResults.AddRange(currentEffectApplications);
}
// Now, all the possible results need to be merged into a single condition via OR and converted into a valid CNF
return(ConstructCNFFromDisjunction(applicationResults));
}
/// <summary>
/// Merges the specified CNF conditions into the current CNF conditions. The other CNF shouldn't be used anymore (its items are reused in the current CNF).
/// </summary>
/// <param name="other">Other CNF conditions.</param>
public void Merge(ConditionsCNF other)
{
if (Parameters == null)
{
Parameters = new Parameters();
}
if (Parameters.AreConflictedWith(other.Parameters))
{
EvaluationManager.RenameConditionParameters(other, Parameters.GetMaxUsedParameterId() + 1);
}
if (other.Parameters != null)
{
Parameters.AddRange(other.Parameters);
}
if (Parameters.Count == 0)
{
Parameters = null;
}
foreach (var items in other)
{
Add(items);
}
}
/// <summary>
/// Evaluates the label of the operator with the specified preconditions and substitution.
/// </summary>
/// <param name="conditions">Operator conditions.</param>
/// <param name="substitution">Variable substitution.</param>
/// <param name="stateLabels">Atom labels in the predecessor layer.</param>
/// <param name="evaluationStrategy">Evaluation strategy.</param>
/// <returns>Operator label value in the relaxed planning graph.</returns>
public double Evaluate(ConditionsCNF conditions, ISubstitution substitution, StateLabels stateLabels, ForwardCostEvaluationStrategy evaluationStrategy)
{
Substitution = substitution;
StateLabels = stateLabels;
EvaluationStrategy = evaluationStrategy;
return(conditions.Accept(this).Item1);
}
/// <summary>
/// Gets a list of atoms used in the specified conditions.
/// </summary>
/// <param name="conditions">Conditions to be evaluated.</param>
/// <returns>Collection of used atoms.</returns>
public HashSet <IAtom> Collect(IConditions conditions)
{
ConditionsCNF conditionsCNF = (ConditionsCNF)conditions.GetCNF();
Atoms = new HashSet <IAtom>();
conditionsCNF.Accept(this);
return(Atoms);
}
/// <summary>
/// Gets a list of atoms from the specified state that are necessary to make these conditions true.
/// </summary>
/// <param name="conditions">Conditions to evaluate.</param>
/// <param name="substitution">Variable substitution.</param>
/// <param name="predecessorState">Preceding state.</param>
/// <returns>List of satisfying atoms.</returns>
public List <IAtom> Evaluate(IConditions conditions, ISubstitution substitution, IState predecessorState)
{
ConditionsCNF conditionsCNF = (ConditionsCNF)conditions.GetCNF();
Atoms = new List <IAtom>();
Substitution = substitution;
ReferenceState = predecessorState;
conditionsCNF.Accept(this);
return(Atoms);
}
/// <summary>
/// Collects relevant when effects for the specified conditions.
/// </summary>
/// <param name="expression">Conditions in CNF.</param>
/// <returns>List of relevant when effects.</returns>
private List <WhenEffect> GetRelevantWhenEffectsForConditions(ConditionsCNF expression)
{
List <int> relevantWhenEffectsIndices = new List <int>();
EffectsRelevanceConditionsEvaluator relevanceEvaluator = new EffectsRelevanceConditionsEvaluator(Effects, GroundingManager);
relevanceEvaluator.Evaluate(expression, new Substitution(), ExpressionSubstitution, relevantWhenEffectsIndices); // empty substitution here because effects already grounded
List <WhenEffect> relevantWhenEffects = new List <WhenEffect>();
relevantWhenEffectsIndices.ForEach(index => relevantWhenEffects.Add(Effects.WhenEffects[index]));
return(relevantWhenEffects);
}
/// <summary>
/// Visits and performs a property count on CNF conjunction.
/// </summary>
/// <param name="expression">CNF conjunction.</param>
/// <returns>Tuple (property satisfied count, property not satisfied count).</returns>
public Tuple <int, int> Visit(ConditionsCNF expression)
{
int fulfilled = 0;
int notFulfilled = 0;
foreach (var conjunct in expression)
{
var childPropertyCounts = conjunct.Accept(this);
fulfilled += childPropertyCounts.Item1;
notFulfilled += childPropertyCounts.Item2;
}
return(Tuple.Create(fulfilled, notFulfilled));
}
/// <summary>
/// Accepts a conjunctive-normal-form expression backwards applier visitor.
/// </summary>
/// <param name="visitor">CNF expression visitor.</param>
public IElementCNF Accept(IElementCNFBackwardsApplierVisitor visitor)
{
ConditionsCNF newExpression = CloneEmpty();
foreach (var conjunct in this)
{
var resultExpression = conjunct.Accept(visitor);
if (resultExpression != null)
{
newExpression.Add((IConjunctCNF)resultExpression);
}
}
return(newExpression);
}
/// <summary>
/// Checks the equality of objects.
/// </summary>
/// <param name="obj">Object to be checked.</param>
/// <returns>True if the objects are equal, false otherwise.</returns>
public override bool Equals(object obj)
{
if (obj == this)
{
return(true);
}
ConditionsCNF other = obj as ConditionsCNF;
if (other == null)
{
return(false);
}
return(CollectionsEquality.Equals(this, other));
}
/// <summary>
/// Renames the parameters (and the corresponding occurences in the conditions), starting from the given free parameter ID.
/// </summary>
/// <param name="conditions">Conditions to be edited.</param>
/// <param name="firstFreeParameterId">First free parameter ID.</param>
public void Rename(ConditionsCNF conditions, int firstFreeParameterId)
{
// firstly, build a renaming map and rename the parameters
ParametersRemapping.Clear();
int currentParameterId = firstFreeParameterId;
foreach (var parameter in conditions.Parameters)
{
ParametersRemapping.Add(parameter.ParameterNameId, currentParameterId);
parameter.ParameterNameId = currentParameterId;
++currentParameterId;
}
// rename the conditions
conditions.Accept(this);
}
/// <summary>
/// Evaluates the conditions with the given reference state and variable substitution.
/// </summary>
/// <param name="conditions">Conditions to be evaluated.</param>
/// <param name="substitution">Used variables substitution.</param>
/// <param name="referenceState">Reference state.</param>
/// <returns>True if all conditions are met in the given state, false otherwise.</returns>
public bool Evaluate(ConditionsCNF conditions, ISubstitution substitution, IState referenceState = null)
{
// the conditions is lifted, but no direct variable substitution provided -> try whether there is a valid grounding to satisfy the conditions
if (conditions.Parameters != null && substitution == null)
{
IEnumerable <ISubstitution> localSubstitutions = GroundingManager.GenerateAllLocalSubstitutions(conditions.Parameters);
foreach (var localSubstitution in localSubstitutions)
{
if (ConditionsCNFEvaluator.Value.Evaluate(conditions, localSubstitution, referenceState))
{
return(true);
}
}
return(false);
}
else
{
return(ConditionsCNFEvaluator.Value.Evaluate(conditions, substitution, referenceState));
}
}
/// <summary>
/// Applies backwards the relevant operator effects and operator preconditions to the given target conditions.
/// </summary>
/// <param name="expression">Target conditions in CNF.</param>
/// <param name="expressionSubstitution">Variables substitution of the expression.</param>
/// <returns>Preceding conditions.</returns>
private ConditionsCNF ApplyBackwardsImpl(ConditionsCNF expression, ISubstitution expressionSubstitution)
{
UsedGroundedPredicates.Clear();
UsedGroundedFunctions.Clear();
ExpressionSubstitution = expressionSubstitution;
// remove positively contributing effects from the target conditions
ConditionsCNF resultExpression = ProcessPrimitiveEffects(expression);
resultExpression = ProcessForallEffects(resultExpression);
resultExpression = ProcessWhenEffects(resultExpression);
// unite processed conditions with partially grounded preconditions of the operator
if (OperatorPreconditions != null)
{
var preconditions = ClearRigidRelations(OperatorPreconditions);
resultExpression.Merge((ConditionsCNF)GroundConditions(preconditions).GetCNF());
}
return(resultExpression);
}
/// <summary>
/// Processes forall effects.
/// </summary>
/// <param name="expression">Conditions expression in CNF.</param>
private ConditionsCNF ProcessForallEffects(ConditionsCNF expression)
{
if (Effects.ForallEffects.Count == 0)
{
return(expression);
}
foreach (var forallEffect in Effects.ForallEffects)
{
EffectsBackwardsConditionsApplier innerApplier = new EffectsBackwardsConditionsApplier(null, forallEffect.Effects, EvaluationManager);
IEnumerable <ISubstitution> localSubstitutions = GroundingManager.GenerateAllLocalSubstitutions(forallEffect.Parameters);
foreach (var localSubstitution in localSubstitutions)
{
OperatorSubstitution.AddLocalSubstitution(localSubstitution);
expression = (ConditionsCNF)innerApplier.ApplyBackwards(expression, OperatorSubstitution);
OperatorSubstitution.RemoveLocalSubstitution(localSubstitution);
}
}
return(expression);
}
/// <summary>
/// Visits and performs a property count on CNF conjunction.
/// </summary>
/// <param name="expression">CNF conjunction.</param>
/// <returns>Tuple (property satisfied count, property not satisfied count).</returns>
public Tuple <double, double> Visit(ConditionsCNF expression)
{
double positiveValue = 0;
double negativeValue = 0;
foreach (var child in expression)
{
var childPropertyCounts = child.Accept(this);
if (EvaluationStrategy == ForwardCostEvaluationStrategy.ADDITIVE_VALUE)
{
positiveValue += childPropertyCounts.Item1;
negativeValue += childPropertyCounts.Item2;
}
else
{
positiveValue = Math.Max(positiveValue, childPropertyCounts.Item1);
negativeValue = Math.Max(negativeValue, childPropertyCounts.Item2);
}
}
return(Tuple.Create(positiveValue, negativeValue));
}
/// <summary>
/// Evaluates whether the operator effects are relevant for the specified conditions.
/// </summary>
/// <param name="conditions">Conditions expression.</param>
/// <param name="operatorSubstitution">Variables substitution of the operator.</param>
/// <param name="expressionSubstitution">Variables substitution of the expression.</param>
/// <param name="relevantConditionalEffects">Output indices of relevant conditional effects (can be null).</param>
/// <returns>Tuple of two values, where the first is true when the positive relevance condition (inclusion) is satisfied, while the second is
/// true when the negative condition (exclusion) is not violated. False otherwise.</returns>
public Tuple <bool, bool> EvaluateWithExtendedResult(IConditions conditions, ISubstitution operatorSubstitution, ISubstitution expressionSubstitution, IList <int> relevantConditionalEffects = null)
{
ConditionsCNF expression = (ConditionsCNF)conditions?.GetCNF();
if (expression == null)
{
return(Tuple.Create(false, false));
}
Effects.GroundEffectsByCurrentOperatorSubstitution(GroundingManager, operatorSubstitution);
OperatorSubstitution = operatorSubstitution;
ExpressionSubstitution = expressionSubstitution;
var primitivesResult = ProcessPrimitiveEffects(expression);
if (!primitivesResult.Item2)
{
return(primitivesResult);
}
var forallResult = ProcessForallEffects(expression);
if (!forallResult.Item2)
{
return(forallResult);
}
var whenResult = ProcessWhenEffects(expression, relevantConditionalEffects);
if (!whenResult.Item2)
{
return(whenResult);
}
return(Tuple.Create((primitivesResult.Item1 || forallResult.Item1 || whenResult.Item1), true));
}
/// <summary>
/// Builds CNF conditions form from the given conditions.
/// </summary>
/// <param name="conditions">Source conditions.</param>
/// <returns>Expression in CNF.</returns>
public ConditionsCNF Build(Conditions conditions)
{
IExpression expression = conditions.GetWrappedConditions();
if (expression == null)
{
return(null);
}
IExpression transformedExpression = ExpressionToCNFTransformer.Transform(expression);
Debug.Assert(Stack.Count == 0);
Stack.Clear();
transformedExpression.Accept(this);
ConditionsCNF conditionsCNF = new ConditionsCNF(EvaluationManager, conditions.Parameters);
while (Stack.Count != 0)
{
conditionsCNF.Add(Stack.Pop());
}
return(conditionsCNF);
}
/// <summary>
/// Gets the number of not accomplished condition constraints for the specified state.
/// </summary>
/// <param name="conditions">Conditions to be evaluated.</param>
/// <param name="referenceState">Reference state.</param>
/// <returns>Number of not accomplished condition constraints.</returns>
public int Evaluate(ConditionsCNF conditions, IState referenceState)
{
ReferenceState = referenceState;
return(conditions.Accept(this).Item2);
}
/// <summary>
/// Gets the number of not accomplished condition constraints for the specified state.
/// </summary>
/// <param name="conditions">Conditions.</param>
/// <param name="state">State to be evaluated.</param>
/// <returns>Number of not accomplished condition constraints.</returns>
public int GetNotAccomplishedConstraintsCount(ConditionsCNF conditions, IState state)
{
return(NotAccomplishedConstraintsCounterCNF.Value.Evaluate(conditions, state));
}
/// <summary>
/// Computes the operator label in the relaxed planning graph.
/// </summary>
/// <param name="conditions">Operator preconditions.</param>
/// <param name="substitution">Variable substitution.</param>
/// <param name="stateLabels">Atom labels from the predecessor layer in the graph.</param>
/// <param name="evaluationStrategy">Evaluation strategy of the planning graph.</param>
/// <returns>Computed operator label in the relaxed planning graph.</returns>
public double EvaluateOperatorPlanningGraphLabel(ConditionsCNF conditions, ISubstitution substitution, StateLabels stateLabels, ForwardCostEvaluationStrategy evaluationStrategy)
{
return(PlanningGraphOperatorLabelEvaluatorCNF.Value.Evaluate(conditions, substitution, stateLabels, evaluationStrategy));
}
/// <summary>
/// Renames the parameters (and the corresponding occurences in the conditions), starting from the given free parameter ID.
/// </summary>
/// <param name="conditions">Conditions to be edited.</param>
/// <param name="firstFreeParameterId">First free parameter ID.</param>
public void RenameConditionParameters(ConditionsCNF conditions, int firstFreeParameterId)
{
ConditionsParametersRenamer.Value.Rename(conditions, firstFreeParameterId);
}
/// <summary>
/// Processes primitive effects.
/// </summary>
/// <param name="expression">Conditions expression in CNF.</param>
/// <returns>Tuple of two values, where the first is true when the positive relevance condition (inclusion) is satisfied, while the second is
/// true when the negative condition (exclusion) is not violated. False otherwise.</returns>
private Tuple <bool, bool> ProcessPrimitiveEffects(ConditionsCNF expression)
{
return(expression.Accept(this));
}
/// <summary>
/// Processes primitive effects.
/// </summary>
/// <param name="expression">Conditions expression in CNF.</param>
private ConditionsCNF ProcessPrimitiveEffects(ConditionsCNF expression)
{
// standard processing of simple effects via visitor pattern
return((ConditionsCNF)expression.Accept(this));
}