public BDDNode GetObstructionSet(GoalRefinement refinement)
{
BDDNode acc = null;
foreach (var child in refinement.SubGoals())
{
if (acc == null)
{
acc = GetObstructionSet(child);
}
else
{
var bDDNode = GetObstructionSet(child);
acc = _manager.Or(acc, bDDNode);
}
}
foreach (var child in refinement.DomainHypotheses())
{
if (acc == null)
{
acc = GetObstructionSet(child);
}
else
{
var bDDNode = GetObstructionSet(child);
acc = _manager.Or(acc, bDDNode);
}
}
return(acc);
}
public BDDNode GetObstructionSet(GoalRefinement refinement)
{
BDDNode acc = null;
var dict = new Dictionary <Goal, BDDNode>();
foreach (var child in refinement.SubGoals())
{
dict.Add(child, GetObstructionSet(child));
}
BDDNode acc2 = _manager.Zero;
foreach (var child in refinement.SubGoalIdentifiers)
{
if (child.Parameters != null && child.Parameters is PrimitiveRefineeParameter <double> c)
{
Console.WriteLine("We have a partial satisfaction.");
// Create or get a variable for the partial refinement
int idx;
if (_mapping.ContainsKey(c))
{
idx = _mapping[c];
}
else
{
idx = _manager.CreateVariable();
_mapping.Add(c, idx);
_rmapping.Add(idx, c);
}
// AND the negation of the variable to the other subgoals' bddnode
var neg = _manager.Create(idx, 0, 1);
acc2 = _manager.Xor(_manager.Create(idx, 1, 0), acc2);
//BDDNode bDDNode1 = GetObstructionSet(refinement.model.Goal(child.Identifier));
//var imp = _manager.Imply(bDDNode1, neg);
//Console.WriteLine("---");
//Console.WriteLine(this.ToDot(imp));
//Console.WriteLine("---");
foreach (var node in dict.ToArray())
{
if (node.Key.Identifier != child.Identifier)
{
//Console.WriteLine("===");
//Console.WriteLine(this.ToDot(dict[node.Key]));
dict[node.Key] = _manager.And(node.Value, neg);
//Console.WriteLine(this.ToDot(dict[node.Key]));
//Console.WriteLine("===");
}
}
}
}
foreach (var kv in dict)
{
if (acc == null)
{
acc = kv.Value;
}
else
{
acc = _manager.Or(acc, kv.Value);
}
}
foreach (var child in refinement.DomainHypotheses())
{
if (acc == null)
{
acc = GetObstructionSet(child);
}
else
{
var bDDNode = GetObstructionSet(child);
acc = _manager.Or(acc, bDDNode);
}
}
return(_manager.And(acc, acc2));
}