/// <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>
/// 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 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>
/// 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);
}