private void GenerateGroundActionArgs(ProblemParser.Operator op,
ProblemParser.Argument arg, List <int> argList, ref HashSet <int> groundPredicates)
{
List <int> idxs = new List <int>();
for (int i = 0; i < arg.PredList.Count; i++)
{
int predID = arg.PredList[i].PredID;
idxs.Clear();
List <string> currPredParamList = arg.PredParams[i];
// translate each predicate param to action param index.
for (int j = 0; j < currPredParamList.Count; j++)
{
idxs.Add(op.ParamNameHash[currPredParamList[j]]);
}
// set value for each predicate param according to its value in calling action.
for (int j = 0; j < idxs.Count; j++)
{
idxs[j] = argList[idxs[j]];
}
//now we have arguments for a precondition predicate, so make it ground!
int predGroundID = mDC.GetLinearIndex(predID, idxs);
groundPredicates.Add(predGroundID);
}
}
private PlanAction GenerateSingleGroundAction(ProblemParser.Operator op, List <int> argList)
{
PlanAction action = new PlanAction();
GenerateGroundActionArgs(op, op.Preconds, argList, ref action.Preconds.Positive);
GenerateGroundActionArgs(op, op.PosEffect, argList, ref action.Effects.Positive);
GenerateGroundActionArgs(op, op.NegEffect, argList, ref action.Effects.Negative);
return(action);
}
