public void WriteTaggedProblem(string sProblemFile, Dictionary <string, List <Predicate> > dTags, IEnumerable <Predicate> lObserved,
List <Predicate> lTrueState, Dictionary <string, double> dFunctionValues, bool bOnlyIdentifyStates)
{
StreamWriter sw = new StreamWriter(sProblemFile);
sw.WriteLine("(define (problem K" + Name + ")");
sw.WriteLine("(:domain K" + Domain.Name + ")");
sw.WriteLine("(:init"); //ff doesn't like the and (and");
string sKP = "", sP = "";
if (Domain.TIME_STEPS > 0)
{
sw.WriteLine("(time0)");
}
if (SDRPlanner.SplitConditionalEffects)
{
sw.WriteLine("(NotInAction)\n");
}
foreach (KeyValuePair <string, double> f in dFunctionValues)
{
sw.WriteLine("(= " + f.Key + " " + f.Value + ")");
}
foreach (GroundedPredicate gp in lObserved)
{
if (gp.Name == "Choice")
{
continue;
}
sKP = "(K" + gp.Name;
sP = "(" + gp.Name;
foreach (Constant c in gp.Constants)
{
sKP += " " + c.Name;
sP += " " + c.Name;
}
if (gp.Negation)
{
sKP += " " + Domain.FALSE_VALUE;
}
else
{
sKP += " " + Domain.TRUE_VALUE;
}
if (!Domain.AlwaysKnown(gp))
{
sw.WriteLine(sKP + ")");
}
if (!gp.Negation)
{
sw.WriteLine(sP + ")");
}
}
foreach (GroundedPredicate gp in lTrueState)
{
if (gp.Name == "Choice")
{
continue;
}
if (!gp.Negation)
{
sP = "(" + gp.Name;
foreach (Constant c in gp.Constants)
{
sP += " " + c.Name;
}
sw.WriteLine(sP + ")");
}
}
foreach (KeyValuePair <string, List <Predicate> > p in dTags)
{
foreach (GroundedPredicate gp in p.Value)
{
if (gp.Name == "Choice")
{
continue;
}
sKP = GenerateKnowGivenLine(gp, p.Key, false);
sw.WriteLine(sKP);
}
if (SDRPlanner.AddAllKnownToGiven)
{
foreach (GroundedPredicate gp in lObserved)
{
if (gp.Name == "Choice")
{
continue;
}
if (!Domain.AlwaysKnown(gp))
{
sKP = GenerateKnowGivenLine(gp, p.Key, false);
sw.WriteLine(sKP);
}
}
}
}
//if (Problem.Domain.HasNonDeterministicActions())
// sw.WriteLine("(option opt0)");
sw.WriteLine(")");
CompoundFormula cfGoal = new CompoundFormula("and");
if (!bOnlyIdentifyStates)
{
cfGoal.AddOperand(Goal);
HashSet <Predicate> lGoalPredicates = new HashSet <Predicate>();
Goal.GetAllPredicates(lGoalPredicates);
//string sGoal = Problem.Goal.ToString();
//sw.WriteLine("(:goal " + sGoal + ")");
//sw.Write("(:goal (and ");
//sw.Write( sGoal );
foreach (Predicate p in lGoalPredicates)
{
//Problem.Domain.WriteKnowledgePredicate(sw, p);
if (!Domain.AlwaysKnown(p))
{
cfGoal.AddOperand(new KnowPredicate(p));
}
}
}
if (bOnlyIdentifyStates || SDRPlanner.AddTagRefutationToGoal)
{
for (int iTag = 1; iTag < dTags.Count; iTag++)
{
GroundedPredicate gp = new GroundedPredicate("KNot");
gp.AddConstant(new Constant("TAG_TYPE", "tag" + iTag));
cfGoal.AddOperand(gp);
//sw.Write(" (KNot t" + iTag + ")");
}
}
if (SDRPlanner.ForceTagObservations)
{
foreach (Predicate p in lTrueState)
{
if (Domain.Observable(p))
{
cfGoal.AddOperand(new KnowPredicate(p));
}
}
}
sw.WriteLine("(:goal " + cfGoal + ")");
//sw.WriteLine("))");
if (MetricStatement != null)
{
sw.WriteLine(MetricStatement);
}
sw.WriteLine(")");
sw.Close();
}