//returns true if operand already exists
public bool AddOperand(Formula f)
{
m_sCachedToString = null;
if (f == null)
return false;
if (Size > 20 || f.Size > 20)
{
SimpleAddOperand(f);
return false;
}
if (Operator == "when")
{
if (Operands.Count < 2)
{
Operands.Add(f);
Size += f.Size;
}
else
throw new NotImplementedException();
return false;
}
if (Operands.Contains(f))
return true;
if (f is ParametrizedFormula)//for universal quantifiers, assuming for now that they were not added before
{
Operands.Add(f);
Size += f.Size;
return false;
}
if (f is ProbabilisticFormula)
{
Operands.Add(f);
Size += f.Size;
return false;
}
if (f is PredicateFormula)
{
Predicate p = ((PredicateFormula)f).Predicate;
if (p.Name == Domain.TRUE_PREDICATE)
if (Operator == "and")
return false;
if (p.Name == Domain.FALSE_PREDICATE)
if (Operator == "or")
return false;
}
if( f is CompoundFormula && ((CompoundFormula)f).Operator == Operator)
{
bool bContainsAll = true;
foreach (Formula fOperand in ((CompoundFormula)f).Operands)
{
if (!AddOperand(fOperand))
bContainsAll = false;
else
Size += fOperand.Size;
}
return bContainsAll;
}
if (f is CompoundFormula)
{
CompoundFormula cf = (CompoundFormula)f;
if (cf.Operands.Count == 1)
{
Size += cf.Operands[0].Size;
return AddOperand(cf.Operands[0]);
}
}
Simplified = false;
if (f is CompoundFormula && ((CompoundFormula)f).Operator == "oneof")
{
Size += f.Size;
Operands.Add(f);//don't know how to negate oneof for now
return false;
}
else
{
if (Operator != "oneof" && Operands.Contains(f.Negate()))
{
if (Operator == "and")
Operands.Add(new PredicateFormula(new GroundedPredicate(Domain.FALSE_PREDICATE)));
else if (Operator == "or")
Operands.Add(new PredicateFormula(new GroundedPredicate(Domain.TRUE_PREDICATE)));
else
throw new NotImplementedException();
Operands.Remove(f.Negate());
return true;
}
else
{
Size += f.Size;
Operands.Add(f);
return false;
}
}
return true;
}
//used to regress goal or precondition
public bool RegressCondition(Formula f)
{
PartiallySpecifiedState pssCurrent = this;
Formula fCurrent = f.Negate();
while (pssCurrent != null)
{
Formula fReduced = fCurrent.Reduce(pssCurrent.Observed);
if (fReduced.IsTrue(null))
return false;
if (fReduced.IsFalse(null))
return true;
if (pssCurrent.Predecessor != null)
{
if (pssCurrent.GeneratingAction.HasConditionalEffects)
{
Formula fRegressed = fReduced.Regress(pssCurrent.GeneratingAction);
fCurrent = fRegressed;
}
}
pssCurrent = pssCurrent.Predecessor;
}
return !m_bsInitialBelief.ConsistentWith(fCurrent);
}
