/// <summary>
/// Checks if the operator effects contain the action cost fluent and extracts it as the operator cost. The default operator cost is 1.
/// </summary>
private void ExtractCostFromEffects()
{
if (!IdManager.Functions.IsRegistered("total-cost"))
{
return;
}
IAtom operatorCostAtom = new Atom(IdManager.Functions.GetId("total-cost"));
foreach (var effect in Effects)
{
NumericIncreaseEffect increaseEffect = effect as NumericIncreaseEffect;
if (increaseEffect != null)
{
if (increaseEffect.FunctionAtom.Equals(operatorCostAtom))
{
Number costValue = increaseEffect.Value as Number;
if (costValue != null)
{
Cost = (int)costValue.Value;
}
else
{
throw new System.NotSupportedException("General numeric fluents are not supported as an operator cost, at the moment.");
}
}
}
}
}
/// <summary>
/// Visits the given input data node.
/// </summary>
/// <param name="data">Input data node.</param>
public override void PostVisit(InputData.PDDL.NumericAssignEffect data)
{
int functionNameId = IdManager.Functions.GetId(data.Function.Name, data.Function.Terms.Count);
List <ITerm> terms = new List <ITerm>();
data.Function.Terms.ForEach(term => terms.Add(TermsBuilder.Value.Build(term)));
NumericExpressionsBuilder numericExpressionsBuilder = new NumericExpressionsBuilder(IdManager);
INumericExpression valueExpression = numericExpressionsBuilder.Build(data.Value);
IAtom functionAtom = new Atom(functionNameId, terms);
IEffect newEffect = null;
switch (data.AssignOperator)
{
case InputData.PDDL.Traits.AssignOperator.ASSIGN:
{
newEffect = new NumericAssignEffect(functionAtom, valueExpression, IdManager);
break;
}
case InputData.PDDL.Traits.AssignOperator.INCREASE:
{
newEffect = new NumericIncreaseEffect(functionAtom, valueExpression, IdManager);
break;
}
case InputData.PDDL.Traits.AssignOperator.DECREASE:
{
newEffect = new NumericDecreaseEffect(functionAtom, valueExpression, IdManager);
break;
}
case InputData.PDDL.Traits.AssignOperator.SCALE_UP:
{
newEffect = new NumericScaleUpEffect(functionAtom, valueExpression, IdManager);
break;
}
case InputData.PDDL.Traits.AssignOperator.SCALE_DOWN:
{
newEffect = new NumericScaleDownEffect(functionAtom, valueExpression, IdManager);
break;
}
default:
{
Debug.Assert(false);
break;
}
}
EffectsStack.Push(newEffect);
}