//for SDR
public static Predicate GenerateKNot(Argument pTag)
{
ParametrizedPredicate pp = new ParametrizedPredicate("KNot");
pp.AddParameter(pTag);
return(pp);
}
public override Predicate GenerateKnowGiven(string sTag, bool bKnowWhether)
{
if (bKnowWhether)
{
throw new NotImplementedException("There should no longer be any Know Whether prediate");
}
ParametrizedPredicate pKGiven = null;
if (bKnowWhether)
{
pKGiven = new ParametrizedPredicate("KWGiven" + Name);
}
else
{
pKGiven = new ParametrizedPredicate("KGiven" + Name);
}
foreach (Argument a in Parameters)
{
pKGiven.AddParameter(a);
}
pKGiven.AddParameter(new Parameter(Domain.TAG, sTag));
if (!bKnowWhether)
{
if (Negation)
{
pKGiven.AddParameter(new Parameter(Domain.VALUE, Domain.FALSE_VALUE));
}
else
{
pKGiven.AddParameter(new Parameter(Domain.VALUE, Domain.TRUE_VALUE));
}
}
return(pKGiven);
}
private bool MatchParametersToPredicateDeclaration(ParametrizedPredicate pp, Domain d)
{
foreach (Predicate pDefinition in d.Predicates)
{
if (pDefinition.Name == pp.Name)
{
if (pDefinition is ParametrizedPredicate)
{
ParametrizedPredicate ppDefinition = (ParametrizedPredicate)pDefinition;
if (pp.Parameters.Count() != ppDefinition.Parameters.Count())
{
return(false);
}
for (int i = 0; i < pp.Parameters.Count(); i++)
{
if (ppDefinition.Parameters.ElementAt(i).Type == "")
{
ppDefinition.Parameters.ElementAt(i).Type = pp.Parameters.ElementAt(i).Type;
}
else if (ppDefinition.Parameters.ElementAt(i).Type != pp.Parameters.ElementAt(i).Type)
{
return(false);
}
}
return(true);
}
}
}
return(false);
}
public override bool Equals(object obj)
{
if (obj is ParametrizedPredicate)
{
ParametrizedPredicate pp = (ParametrizedPredicate)obj;
if (pp.Name != Name)
{
return(false);
}
if (m_lParameters.Count != pp.m_lParameters.Count)
{
return(false);
}
for (int iParameter = 0; iParameter < m_lParameters.Count; iParameter++)
{
if (!m_lParameters[iParameter].Equals(pp.m_lParameters[iParameter]))
{
return(false);
}
}
return(Negation == pp.Negation);
}
return(false);
}
public Dictionary <string, Constant> Bind(ParametrizedPredicate p)
{
if (Name != p.Name)
{
return(null);
}
if (((List <Constant>)Constants).Count != ((List <Argument>)p.Parameters).Count)
{
return(null);
}
Dictionary <string, Constant> dBindings = new Dictionary <string, Constant>();
for (int i = 0; i < Constants.Count; i++)
{
Argument arg = p.Parameters.ElementAt(i);
if (arg is Constant)
{
if (!Constants[i].Equals(arg))
{
return(null);
}
}
if (arg is Parameter)
{
dBindings[arg.Name] = Constants[i];
}
}
return(dBindings);
}
public override Predicate Negate()
{
ParametrizedPredicate pNegate = new ParametrizedPredicate(Name);
pNegate.Negation = !Negation;
pNegate.m_lParameters = new List <Argument>(m_lParameters);
return(pNegate);
}
public override Predicate GenerateGiven(string sTag)
{
ParametrizedPredicate pGiven = new ParametrizedPredicate("Given" + Name);
foreach (Argument a in Parameters)
{
pGiven.AddParameter(a);
}
pGiven.AddParameter(new Parameter(Domain.TAG, sTag));
if (Negation)
return pGiven.Negate();
return pGiven;
}
public Predicate ReadFunctionExpression(CompoundExpression exp, Dictionary <string, string> dParameterNameToType, Domain d)
{
Constant c = null;
string sName = exp.SubExpressions[0].ToString();
if (exp.Type == "=")
{
string sParam1 = exp.SubExpressions[0].ToString();
string sParam2 = exp.SubExpressions[1].ToString();
if (!dParameterNameToType.ContainsKey(sParam1))
{
throw new ArgumentException("First argument of = must be a parameter");
}
ParametrizedPredicate pp = new ParametrizedPredicate("=");
pp.AddParameter(new Parameter(dParameterNameToType[sParam1], sParam1));
if (dParameterNameToType.ContainsKey(sParam2))
{
pp.AddParameter(new Parameter(dParameterNameToType[sParam2], sParam2));
}
else
{
pp.AddParameter(new Constant(d.ConstantNameToType[sParam2], sParam2));
}
return(pp);
}
GroundedPredicate p = new GroundedPredicate(exp.Type);
double dValue = 0.0;
if (d.Functions.Contains(sName))
{
c = new Constant("Function", sName);
}
else
{
throw new ArgumentException("First argument of increase or decrease must be a function");
}
p.AddConstant(c);
sName = exp.SubExpressions[1].ToString();
if (double.TryParse(sName, out dValue))
{
c = new Constant("Number", sName);
}
else
{
throw new ArgumentException("Second argument of increase or decrease must be a number");
}
p.AddConstant(c);
return(p);
}
public Predicate PartiallyGround(Dictionary <string, Constant> dBindings)
{
GroundedPredicate gpred = new GroundedPredicate(Name);
ParametrizedPredicate ppred = new ParametrizedPredicate(Name);
gpred.Negation = Negation;
ppred.Negation = Negation;
bool bAllGrounded = true;
foreach (Argument a in Parameters)
{
if (a is Parameter)
{
if (!dBindings.ContainsKey(a.Name))
{
ppred.AddParameter(a);
bAllGrounded = false;
}
else
{
ppred.AddParameter(dBindings[a.Name]);
gpred.AddConstant(dBindings[a.Name]);
}
}
else
{
gpred.AddConstant((Constant)a);
ppred.AddParameter(a);
}
}
if (bAllGrounded)
{
if (gpred.Name == "=")
{
bool bSame = gpred.Constants[0].Equals(gpred.Constants[1]);
if (bSame && !Negation || !bSame && Negation)
{
return(new GroundedPredicate(Domain.TRUE_PREDICATE));
}
else
{
return(new GroundedPredicate(Domain.FALSE_PREDICATE));
}
}
return(gpred);
}
else
{
return(ppred);
}
}
public override Predicate GenerateGiven(string sTag)
{
ParametrizedPredicate pGiven = new ParametrizedPredicate("Given" + Name);
foreach (Argument a in Parameters)
{
pGiven.AddParameter(a);
}
pGiven.AddParameter(new Parameter(Domain.TAG, sTag));
if (Negation)
{
return(pGiven.Negate());
}
return(pGiven);
}
public override Predicate ToTag()
{
ParametrizedPredicate ppNew = new ParametrizedPredicate(this);
if (Negation)
{
ppNew.Name = ppNew.Name + "-Remove";
}
else
{
ppNew.Name = ppNew.Name + "-Add";
}
ppNew.Negation = false;
return(ppNew);
}
public override Formula PartiallyGround(Dictionary <string, Constant> dBindings)
{
if (Predicate is ParametrizedPredicate)
{
ParametrizedPredicate ppred = (ParametrizedPredicate)Predicate;
Predicate pGrounded = ppred.PartiallyGround(dBindings);
return(new PredicateFormula(pGrounded));
}
if (Predicate is KnowPredicate)
{
throw new NotImplementedException();
}
if (Predicate is KnowGivenPredicate)
{
throw new NotImplementedException();
}
return(this);
}
public Dictionary<string, Constant> Bind(ParametrizedPredicate p)
{
if (Name != p.Name)
return null;
if (((List<Constant>)Constants).Count != ((List<Argument>)p.Parameters).Count)
return null;
Dictionary<string, Constant> dBindings = new Dictionary<string, Constant>();
for (int i = 0; i < Constants.Count; i++)
{
Argument arg = p.Parameters.ElementAt(i);
if (arg is Constant)
{
if (!Constants[i].Equals(arg))
return null;
}
if (arg is Parameter)
dBindings[arg.Name] = Constants[i];
}
return dBindings;
}
private Predicate ReadPredicate(CompoundExpression exp, Domain d)
{
ParametrizedPredicate pp = new ParametrizedPredicate(exp.Type);
int iExpression = 0;
Parameter p = null;
string sName = "";
List <Parameter> lUntypedParameters = new List <Parameter>();
for (iExpression = 0; iExpression < exp.SubExpressions.Count; iExpression++)
{
sName = exp.SubExpressions[iExpression].ToString();
if (sName == "-")
{
string sType = exp.SubExpressions[iExpression + 1].ToString();
foreach (Parameter pUntyped in lUntypedParameters)
{
pUntyped.Type = sType;
}
lUntypedParameters.Clear();
iExpression++;//skip the "-" and the type
}
else
{
p = new Parameter("", sName);
lUntypedParameters.Add(p);
pp.AddParameter(p);
}
}
if (d.Types.Count == 1)
{
foreach (Parameter pUntyped in lUntypedParameters)
{
pUntyped.Type = d.Types[0];
}
}
return(pp);
}
private Formula ReadPredicate(CompoundExpression exp, Dictionary<string, string> dParameterNameToType, bool bParametrized, Domain d)
{
Predicate p = null;
int iExpression = 0;
string sName = "";
if (bParametrized)
p = new ParametrizedPredicate(exp.Type);
else
p = new GroundedPredicate(exp.Type);
bool bAllConstants = true;
for (iExpression = 0; iExpression < exp.SubExpressions.Count; iExpression++)
{
sName = exp.SubExpressions[iExpression].ToString();
if (bParametrized)
{
Argument a = null;
if (sName.StartsWith("?"))
{
a = new Parameter(dParameterNameToType[sName], sName);
bAllConstants = false;
}
else
{
a = new Constant(d.ConstantNameToType[sName], sName);
}
((ParametrizedPredicate)p).AddParameter(a);
}
else
{
try
{
Constant c = new Constant(d.ConstantNameToType[sName], sName);
((GroundedPredicate)p).AddConstant(c);
}
catch (Exception e)
{
Console.WriteLine();
}
}
}
if (bParametrized)
if (!MatchParametersToPredicateDeclaration((ParametrizedPredicate)p, d))
throw new NotImplementedException();
if (bParametrized && bAllConstants)
{
GroundedPredicate gp = new GroundedPredicate(p.Name);
foreach (Constant c in ((ParametrizedPredicate)p).Parameters)
gp.AddConstant(c);
p = gp;
}
PredicateFormula vf = new PredicateFormula(p);
return vf;
}
public ParametrizedPredicate(ParametrizedPredicate pp)
: base(pp.Name)
{
m_lParameters = new List <Argument>(pp.m_lParameters);
Parameterized = pp.Parameterized;
}
public List<Action> KnowCompilationSplitConditions(Dictionary<string, List<Predicate>> dTags, List<string> lAlwaysKnown, List<Predicate> lAdditionalPredicates)
{
List<Action> lActions = new List<Action>();
ParametrizedAction aNewAdd = new ParametrizedAction(Name + "-Add");
ParametrizedAction aNewRemove = new ParametrizedAction(Name + "-Remove");
ParametrizedAction aNewTranslateAdd = new ParametrizedAction(Name + "-TranslateAdd");
ParametrizedAction aNewTranslateRemove = new ParametrizedAction(Name + "-TranslateRemove");
ParametrizedPredicate ppInFirst = new ParametrizedPredicate("P1-" + Name);
ParametrizedPredicate ppInSecond = new ParametrizedPredicate("P2-" + Name);
ParametrizedPredicate ppInThird = new ParametrizedPredicate("P3-" + Name);
GroundedPredicate gpNotInAction = new GroundedPredicate("NotInAction");
if (this is ParametrizedAction)
{
foreach (Parameter p in ((ParametrizedAction)this).Parameters)
{
aNewAdd.AddParameter(p);
aNewRemove.AddParameter(p);
aNewTranslateAdd.AddParameter(p);
aNewTranslateRemove.AddParameter(p);
ppInFirst.AddParameter(p);
ppInSecond.AddParameter(p);
ppInThird.AddParameter(p);
}
}
List<CompoundFormula> lConditions = new List<CompoundFormula>();
List<Formula> lObligatory = new List<Formula>();
SplitEffects(lConditions, lObligatory);
CompoundFormula cfPreconditions = new CompoundFormula("and");
HashSet<Predicate> lKnowPreconditions = new HashSet<Predicate>();
if (Preconditions != null)
{
Preconditions.GetAllPredicates(lKnowPreconditions);
cfPreconditions.AddOperand(Preconditions);
foreach (Predicate p in lKnowPreconditions)
if (!lAlwaysKnown.Contains(p.Name))
cfPreconditions.AddOperand(new PredicateFormula(new KnowPredicate(p)));
}
cfPreconditions.AddOperand(gpNotInAction);
if (Effects == null)
throw new NotImplementedException();
HashSet<Predicate> lKnowEffects = new HashSet<Predicate>();
CompoundFormula cfAddEffects = new CompoundFormula("and");
CompoundFormula cfRemoveEffects = new CompoundFormula("and");
CompoundFormula cfTranslateAddEffects = new CompoundFormula("and");
CompoundFormula cfTranslateRemoveEffects = new CompoundFormula("and");
List<Predicate> lRequireTranslation = new List<Predicate>();
foreach (Formula f in lObligatory)
{
f.GetAllPredicates(lKnowEffects);
cfAddEffects.AddOperand(f); //unconditional effects cannot conflict anyhow
}
foreach (Predicate p in lKnowEffects)
{
if (!lAlwaysKnown.Contains(p.Name))
{
Predicate pKEffect = new KnowPredicate(p);
cfAddEffects.AddOperand(pKEffect);
pKEffect = new KnowPredicate(p.Negate());
cfRemoveEffects.AddOperand(pKEffect.Negate());
foreach (string sTag in dTags.Keys)
{
pKEffect = p.GenerateKnowGiven(sTag);
cfAddEffects.AddOperand(pKEffect);
pKEffect = p.Negate().GenerateKnowGiven(sTag);
cfRemoveEffects.AddOperand(pKEffect.Negate());
}
}
}
if (lConditions.Count > 0)
{
lAdditionalPredicates.Add(ppInFirst);
lAdditionalPredicates.Add(ppInSecond);
lAdditionalPredicates.Add(ppInThird);
aNewRemove.Preconditions = cfPreconditions;
cfRemoveEffects.AddOperand(ppInFirst);
cfRemoveEffects.AddOperand(gpNotInAction.Negate());
aNewAdd.Preconditions = new PredicateFormula(ppInFirst);
cfAddEffects.AddOperand(ppInSecond);
cfAddEffects.AddOperand(ppInFirst.Negate());
aNewTranslateRemove.Preconditions = new PredicateFormula(ppInSecond);
cfTranslateRemoveEffects.AddOperand(ppInSecond.Negate());
cfTranslateRemoveEffects.AddOperand(ppInThird);
aNewTranslateAdd.Preconditions = new PredicateFormula(ppInThird);
cfTranslateAddEffects.AddOperand(ppInThird.Negate());
cfTranslateAddEffects.AddOperand(gpNotInAction);
Dictionary<Predicate, Predicate> dTaggedPredicates = new Dictionary<Predicate,Predicate>();
foreach (CompoundFormula cfCondition in lConditions)
{
CompoundFormula cfAddCondition, cfRemoveCondition;
cfCondition.SplitAddRemove(dTaggedPredicates, out cfAddCondition, out cfRemoveCondition);
if (cfAddCondition != null)
cfAddEffects.AddOperand(cfAddCondition);
if (cfRemoveCondition != null)
cfRemoveEffects.AddOperand(cfRemoveCondition);
CompoundFormula cfK = CreateKnowledgeGainCondition(cfCondition, lAlwaysKnown, false);
if (cfK != null)
{
cfK.SplitAddRemove(dTaggedPredicates, out cfAddCondition, out cfRemoveCondition);
if (cfAddCondition != null)
cfAddEffects.AddOperand(cfAddCondition);
if (cfRemoveCondition != null)
cfRemoveEffects.AddOperand(cfRemoveCondition);
}
cfK = CreateKnowledgeLossCondition(cfCondition, lAlwaysKnown);
if (cfK != null)
{
cfK.SplitAddRemove(dTaggedPredicates, out cfAddCondition, out cfRemoveCondition);
if (cfAddCondition != null)
cfAddEffects.AddOperand(cfAddCondition);
if (cfRemoveCondition != null)
cfRemoveEffects.AddOperand(cfRemoveCondition);
}
foreach (string sTag in dTags.Keys)
{
cfK = CreateTaggedKnowledgeGainCondition(cfCondition, sTag, lAlwaysKnown, false);
if (cfK != null)
{
cfK.SplitAddRemove(dTaggedPredicates, out cfAddCondition, out cfRemoveCondition);
if (cfAddCondition != null)
cfAddEffects.AddOperand(cfAddCondition);
if (cfRemoveCondition != null)
cfRemoveEffects.AddOperand(cfRemoveCondition);
}
cfK = CreateTaggedKnowledgeLossCondition(cfCondition, sTag, lAlwaysKnown);
if (cfK != null)
{
cfK.SplitAddRemove(dTaggedPredicates, out cfAddCondition, out cfRemoveCondition);
if (cfAddCondition != null)
cfAddEffects.AddOperand(cfAddCondition);
if (cfRemoveCondition != null)
cfRemoveEffects.AddOperand(cfRemoveCondition);
}
}
}
aNewAdd.Effects = cfAddEffects.Simplify();
aNewRemove.Effects = cfRemoveEffects.Simplify();
lActions.Add(aNewRemove);
lActions.Add(aNewAdd);
foreach (KeyValuePair<Predicate, Predicate> pair in dTaggedPredicates)
{
CompoundFormula cfWhen = new CompoundFormula("when");
CompoundFormula cfAnd = new CompoundFormula("and");
cfWhen.AddOperand(pair.Key);
cfAnd.SimpleAddOperand(pair.Value);
cfAnd.SimpleAddOperand(pair.Key.Negate());
cfWhen.SimpleAddOperand(cfAnd);
if (pair.Value.Negation)
cfTranslateRemoveEffects.AddOperand(cfWhen);
else
cfTranslateAddEffects.AddOperand(cfWhen);
}
aNewTranslateAdd.Effects = cfTranslateAddEffects;
aNewTranslateRemove.Effects = cfTranslateRemoveEffects;
lActions.Add(aNewTranslateRemove);
lActions.Add(aNewTranslateAdd);
}
else
{
Action aK = AddTaggedConditions(dTags, lAlwaysKnown);
lActions.Add(aK);
}
if (Observe != null)
{
throw new NotImplementedException();
}
return lActions;
}
private Formula ReadPredicate(CompoundExpression exp, Dictionary <string, string> dParameterNameToType, bool bParametrized, Domain d)
{
Predicate p = null;
int iExpression = 0;
string sName = "";
if (bParametrized)
{
p = new ParametrizedPredicate(exp.Type);
}
else
{
p = new GroundedPredicate(exp.Type);
}
bool bAllConstants = true;
for (iExpression = 0; iExpression < exp.SubExpressions.Count; iExpression++)
{
sName = exp.SubExpressions[iExpression].ToString();
if (bParametrized)
{
Argument a = null;
if (sName.StartsWith("?"))
{
a = new Parameter(dParameterNameToType[sName], sName);
bAllConstants = false;
}
else
{
a = new Constant(d.ConstantNameToType[sName], sName);
}
((ParametrizedPredicate)p).AddParameter(a);
}
else
{
try
{
Constant c = new Constant(d.ConstantNameToType[sName], sName);
((GroundedPredicate)p).AddConstant(c);
}
catch (Exception e)
{
Console.WriteLine();
}
}
}
if (bParametrized)
{
if (!MatchParametersToPredicateDeclaration((ParametrizedPredicate)p, d))
{
throw new NotImplementedException();
}
}
if (bParametrized && bAllConstants)
{
GroundedPredicate gp = new GroundedPredicate(p.Name);
foreach (Constant c in ((ParametrizedPredicate)p).Parameters)
{
gp.AddConstant(c);
}
p = gp;
}
PredicateFormula vf = new PredicateFormula(p);
return(vf);
}
public List<Action> KnowWhetherTagCompilationSplitConditions(Dictionary<string, List<Predicate>> dTags, Domain d, List<string> lIncludedTags,
List<string> lExcludedTags, List<Predicate> lAdditionalPredicates)
{
string sName = Name + "-KW";
foreach (string sTag in lIncludedTags)
sName += "-" + sTag;
ParametrizedAction aNewState = new ParametrizedAction(sName + "-State");
ParametrizedAction aNewKnowledgeGain = new ParametrizedAction(sName + "-KnowledgeGain");
ParametrizedAction aNewKnowledgeLoss = new ParametrizedAction(sName + "-KnowledgeLoss");
ParametrizedPredicate ppInFirst = new ParametrizedPredicate("P1-" + sName);
ParametrizedPredicate ppInSecond = new ParametrizedPredicate("P2-" + sName);
GroundedPredicate gpNotInAction = new GroundedPredicate("NotInAction");
if (this is ParametrizedAction)
{
foreach (Parameter p in ((ParametrizedAction)this).Parameters)
{
aNewKnowledgeLoss.AddParameter(p);
aNewKnowledgeGain.AddParameter(p);
aNewState.AddParameter(p);
ppInFirst.AddParameter(p);
ppInSecond.AddParameter(p);
}
}
List<CompoundFormula> lConditions = new List<CompoundFormula>();
List<Formula> lObligatory = new List<Formula>();
SplitEffects(lConditions, lObligatory);
CompoundFormula cfPreconditions = new CompoundFormula("and");
Formula cfKWPreconditions = GetKnowWhetherPreconditions(dTags, d, lIncludedTags, lExcludedTags);
cfPreconditions.AddOperand(cfKWPreconditions); //knowledge loss is the first action, so it will have all the preconditions
cfPreconditions.AddOperand(gpNotInAction);
if (Effects == null)
throw new NotImplementedException();
HashSet<Predicate> lKnowEffects = new HashSet<Predicate>();
CompoundFormula cfStateEffects = new CompoundFormula("and");
CompoundFormula cfKnowledgeLossEffects = new CompoundFormula("and");
CompoundFormula cfKnowledgeGainEffects = new CompoundFormula("and");
//CompoundFormula cfMandatoryEffects = new CompoundFormula("and");
foreach (Formula f in lObligatory)
{
f.GetAllPredicates(lKnowEffects);
}
if (lKnowEffects.Count > 0)
{
foreach (string sTag in lIncludedTags)
{
//~KNot t|?t -> effects|t
CompoundFormula cfKEffects = new CompoundFormula("and");
foreach (Predicate p in lKnowEffects)
{
Predicate pAdd = p.GenerateGiven(sTag);
cfKEffects.AddOperand(pAdd);
if (!d.AlwaysKnown(p))
{
pAdd = p.GenerateKnowGiven(sTag, true);
cfKEffects.AddOperand(pAdd);
}
}
cfStateEffects.SimpleAddOperand(cfKEffects);
}
}
List<Action> lActions = new List<Action>();
if (lConditions.Count > 0)
{
lAdditionalPredicates.Add(ppInFirst);
lAdditionalPredicates.Add(ppInSecond);
aNewKnowledgeLoss.Preconditions = cfPreconditions;
aNewKnowledgeGain.Preconditions = new PredicateFormula(ppInFirst);
aNewState.Preconditions = new PredicateFormula(ppInSecond);
cfKnowledgeLossEffects.AddOperand(ppInFirst);
cfKnowledgeLossEffects.AddOperand(gpNotInAction.Negate());
cfKnowledgeGainEffects.AddOperand(ppInSecond);
cfKnowledgeGainEffects.AddOperand(ppInFirst.Negate());
cfStateEffects.AddOperand(ppInSecond.Negate());
cfStateEffects.AddOperand(gpNotInAction);
foreach (CompoundFormula cfCondition in lConditions)
{
CompoundFormula cfK = null, cfAnd = null;
HashSet<Predicate> lConditionEffects = cfCondition.Operands[1].GetAllPredicates();
cfAnd = new CompoundFormula("and");
foreach (string sTag in lIncludedTags)
{
cfK = CreateTaggedCondition(cfCondition, d, sTag);
if (cfK != null)
{
cfStateEffects.SimpleAddOperand(cfK);
}
}
cfK = CreateTaggedKnowledgeWhetherGainConditions(cfCondition, d, lIncludedTags);
if (cfK != null)
{
cfKnowledgeGainEffects.SimpleAddOperand(cfK);
}
cfK = CreateTaggedKnowledgeWhetherLossCondition(cfCondition, d, lIncludedTags);
if (cfK != null && cfK.Operands.Count > 0)
{
cfKnowledgeLossEffects.SimpleAddOperand(cfK);
}
}
aNewKnowledgeGain.Effects = cfKnowledgeGainEffects.Simplify();
aNewKnowledgeLoss.Effects = cfKnowledgeLossEffects.Simplify();
lActions.Add(aNewKnowledgeLoss);
lActions.Add(aNewKnowledgeGain);
}
else
{
aNewState.Preconditions = cfPreconditions;
}
aNewState.Effects = cfStateEffects.Simplify();
lActions.Add(aNewState);
if (Observe != null)
{
throw new NotImplementedException();
}
return lActions;
}
public List<Action> SplitConditions(List<Predicate> lAdditionalPredicates)
{
List<Action> lActions = new List<Action>();
ParametrizedAction aNewAdd = new ParametrizedAction(Name + "-Add");
ParametrizedAction aNewRemove = new ParametrizedAction(Name + "-Remove");
ParametrizedAction aNewTranslateRemove = new ParametrizedAction(Name + "-TranslateRemove");
ParametrizedAction aNewTranslateAdd = new ParametrizedAction(Name + "-TranslateAdd");
ParametrizedPredicate ppInFirst = new ParametrizedPredicate("P1-" + Name);
ParametrizedPredicate ppInSecond = new ParametrizedPredicate("P2-" + Name);
ParametrizedPredicate ppInThird = new ParametrizedPredicate("P3-" + Name);
GroundedPredicate gpNotInAction = new GroundedPredicate("NotInAction");
if (this is ParametrizedAction)
{
foreach (Parameter p in ((ParametrizedAction)this).Parameters)
{
aNewAdd.AddParameter(p);
aNewRemove.AddParameter(p);
aNewTranslateAdd.AddParameter(p);
aNewTranslateRemove.AddParameter(p);
ppInFirst.AddParameter(p);
ppInSecond.AddParameter(p);
ppInThird.AddParameter(p);
}
}
List<CompoundFormula> lConditions = new List<CompoundFormula>();
List<Formula> lObligatory = new List<Formula>();
SplitEffects(lConditions, lObligatory);
CompoundFormula cfPreconditions = new CompoundFormula("and");
cfPreconditions.AddOperand(Preconditions);
cfPreconditions.AddOperand(gpNotInAction);
if (Effects == null)
throw new NotImplementedException();
HashSet<Predicate> lKnowEffects = new HashSet<Predicate>();
CompoundFormula cfAddEffects = new CompoundFormula("and");
CompoundFormula cfRemoveEffects = new CompoundFormula("and");
CompoundFormula cfTranslateAddEffects = new CompoundFormula("and");
CompoundFormula cfTranslateRemoveEffects = new CompoundFormula("and");
List<Predicate> lRequireTranslation = new List<Predicate>();
foreach (Formula f in lObligatory)
{
f.GetAllPredicates(lKnowEffects);
cfAddEffects.AddOperand(f); //unconditional effects cannot conflict anyhow
}
if (lConditions.Count > 0)
{
lAdditionalPredicates.Add(ppInFirst);
lAdditionalPredicates.Add(ppInSecond);
lAdditionalPredicates.Add(ppInThird);
aNewRemove.Preconditions = cfPreconditions;
cfRemoveEffects.AddOperand(ppInFirst);
cfRemoveEffects.AddOperand(gpNotInAction.Negate());
aNewAdd.Preconditions = new PredicateFormula(ppInFirst);
cfAddEffects.AddOperand(ppInSecond);
cfAddEffects.AddOperand(ppInFirst.Negate());
aNewTranslateRemove.Preconditions = new PredicateFormula(ppInSecond);
cfTranslateRemoveEffects.AddOperand(ppInSecond.Negate());
cfTranslateRemoveEffects.AddOperand(ppInThird);
aNewTranslateAdd.Preconditions = new PredicateFormula(ppInThird);
cfTranslateAddEffects.AddOperand(ppInThird.Negate());
cfTranslateAddEffects.AddOperand(gpNotInAction);
Dictionary<Predicate, Predicate> dTaggedPredicates = new Dictionary<Predicate, Predicate>();
foreach (CompoundFormula cfCondition in lConditions)
{
CompoundFormula cfAddCondition, cfRemoveCondition;
cfCondition.SplitAddRemove(dTaggedPredicates, out cfAddCondition, out cfRemoveCondition);
if (cfAddCondition != null)
cfAddEffects.AddOperand(cfAddCondition);
if (cfRemoveCondition != null)
cfRemoveEffects.AddOperand(cfRemoveCondition);
}
aNewAdd.Effects = cfAddEffects.Simplify();
aNewRemove.Effects = cfRemoveEffects.Simplify();
lActions.Add(aNewRemove);
lActions.Add(aNewAdd);
foreach (KeyValuePair<Predicate, Predicate> pair in dTaggedPredicates)
{
CompoundFormula cfWhen = new CompoundFormula("when");
CompoundFormula cfAnd = new CompoundFormula("and");
cfWhen.AddOperand(pair.Key);
cfAnd.SimpleAddOperand(pair.Value);
cfAnd.SimpleAddOperand(pair.Key.Negate());
cfWhen.SimpleAddOperand(cfAnd);
if (pair.Value.Negation)
cfTranslateRemoveEffects.AddOperand(cfWhen);
else
cfTranslateAddEffects.AddOperand(cfWhen);
}
aNewTranslateAdd.Effects = cfTranslateAddEffects;
aNewTranslateRemove.Effects = cfTranslateRemoveEffects;
lActions.Add(aNewTranslateRemove);
lActions.Add(aNewTranslateAdd);
}
else
throw new NotImplementedException();
if (Observe != null)
{
throw new NotImplementedException();
}
return lActions;
}
public override Predicate GenerateKnowGiven(string sTag, bool bKnowWhether)
{
if (bKnowWhether)
throw new NotImplementedException("There should no longer be any Know Whether prediate");
ParametrizedPredicate pKGiven = null;
if (bKnowWhether)
pKGiven = new ParametrizedPredicate("KWGiven" + Name);
else
pKGiven = new ParametrizedPredicate("KGiven" + Name);
foreach (Argument a in Parameters)
{
pKGiven.AddParameter(a);
}
pKGiven.AddParameter(new Parameter(Domain.TAG, sTag));
if (!bKnowWhether)
{
if (Negation)
pKGiven.AddParameter(new Parameter(Domain.VALUE, Domain.FALSE_VALUE));
else
pKGiven.AddParameter(new Parameter(Domain.VALUE, Domain.TRUE_VALUE));
}
return pKGiven;
}
public override Predicate ToTag()
{
ParametrizedPredicate ppNew = new ParametrizedPredicate(this);
if (Negation)
ppNew.Name = ppNew.Name + "-Remove";
else
ppNew.Name = ppNew.Name + "-Add";
ppNew.Negation = false;
return ppNew;
}
public ParametrizedPredicate(ParametrizedPredicate pp)
: base(pp.Name)
{
m_lParameters = new List<Argument>(pp.m_lParameters);
Parameterized = pp.Parameterized;
}
public Predicate PartiallyGround(Dictionary<string, Constant> dBindings)
{
GroundedPredicate gpred = new GroundedPredicate(Name);
ParametrizedPredicate ppred = new ParametrizedPredicate(Name);
gpred.Negation = Negation;
ppred.Negation = Negation;
bool bAllGrounded = true;
foreach (Argument a in Parameters)
{
if (a is Parameter)
{
if (!dBindings.ContainsKey(a.Name))
{
ppred.AddParameter(a);
bAllGrounded = false;
}
else
{
ppred.AddParameter(dBindings[a.Name]);
gpred.AddConstant(dBindings[a.Name]);
}
}
else
{
gpred.AddConstant((Constant)a);
ppred.AddParameter(a);
}
}
if (bAllGrounded)
{
if (gpred.Name == "=")
{
bool bSame = gpred.Constants[0].Equals(gpred.Constants[1]);
if (bSame && !Negation || !bSame && Negation)
return new GroundedPredicate(Domain.TRUE_PREDICATE);
else
return new GroundedPredicate(Domain.FALSE_PREDICATE);
}
return gpred;
}
else
return ppred;
}
public override Predicate Negate()
{
ParametrizedPredicate pNegate = new ParametrizedPredicate(Name);
pNegate.Negation = !Negation;
pNegate.m_lParameters = new List<Argument>(m_lParameters);
return pNegate;
}
public Predicate ReadFunctionExpression(CompoundExpression exp, Dictionary<string, string> dParameterNameToType, Domain d)
{
Constant c = null;
string sName = exp.SubExpressions[0].ToString();
if (exp.Type == "=")
{
string sParam1 = exp.SubExpressions[0].ToString();
string sParam2 = exp.SubExpressions[1].ToString();
if (!dParameterNameToType.ContainsKey(sParam1))
throw new ArgumentException("First argument of = must be a parameter");
ParametrizedPredicate pp = new ParametrizedPredicate("=");
pp.AddParameter(new Parameter(dParameterNameToType[sParam1], sParam1));
if (dParameterNameToType.ContainsKey(sParam2))
pp.AddParameter(new Parameter(dParameterNameToType[sParam2], sParam2));
else
pp.AddParameter(new Constant(d.ConstantNameToType[sParam2], sParam2));
return pp;
}
GroundedPredicate p = new GroundedPredicate(exp.Type);
double dValue = 0.0;
if (d.Functions.Contains(sName))
c = new Constant("Function", sName);
else
throw new ArgumentException("First argument of increase or decrease must be a function");
p.AddConstant(c);
sName = exp.SubExpressions[1].ToString();
if (double.TryParse(sName, out dValue))
c = new Constant("Number", sName);
else
throw new ArgumentException("Second argument of increase or decrease must be a number");
p.AddConstant(c);
return p;
}
private Predicate ReadPredicate(CompoundExpression exp, Domain d)
{
ParametrizedPredicate pp = new ParametrizedPredicate(exp.Type);
int iExpression = 0;
Parameter p = null;
string sName = "";
List<Parameter> lUntypedParameters = new List<Parameter>();
for (iExpression = 0; iExpression < exp.SubExpressions.Count; iExpression++)
{
sName = exp.SubExpressions[iExpression].ToString();
if (sName == "-")
{
string sType = exp.SubExpressions[iExpression + 1].ToString();
foreach (Parameter pUntyped in lUntypedParameters)
pUntyped.Type = sType;
lUntypedParameters.Clear();
iExpression++;//skip the "-" and the type
}
else
{
p = new Parameter("", sName);
lUntypedParameters.Add(p);
pp.AddParameter(p);
}
}
if (d.Types.Count == 1)
{
foreach (Parameter pUntyped in lUntypedParameters)
pUntyped.Type = d.Types[0];
}
return pp;
}
private bool MatchParametersToPredicateDeclaration(ParametrizedPredicate pp, Domain d)
{
foreach (Predicate pDefinition in d.Predicates)
{
if (pDefinition.Name == pp.Name)
{
if (pDefinition is ParametrizedPredicate)
{
ParametrizedPredicate ppDefinition = (ParametrizedPredicate)pDefinition;
if (pp.Parameters.Count() != ppDefinition.Parameters.Count())
return false;
for (int i = 0; i < pp.Parameters.Count(); i++)
{
if (ppDefinition.Parameters.ElementAt(i).Type == "")
ppDefinition.Parameters.ElementAt(i).Type = pp.Parameters.ElementAt(i).Type;
else if (ppDefinition.Parameters.ElementAt(i).Type != pp.Parameters.ElementAt(i).Type)
return false;
}
return true;
}
}
}
return false;
}
