private void AddReasoningAction(HashSet <Predicate> lPreconditions, HashSet <Predicate> lEffects, Dictionary <List <Predicate>, List <Predicate> > dActions)
{
List <Predicate> lKnowPreconditions = new List <Predicate>();
foreach (GroundedPredicate p in lPreconditions)
{
KnowPredicate pKnow = new KnowPredicate(p);
lKnowPreconditions.Add(pKnow);
lKnowPreconditions.Add(p);
}
List <Predicate> lKnowEffects = new List <Predicate>();
foreach (GroundedPredicate p in lEffects)
{
KnowPredicate pKnow = new KnowPredicate(p);
lKnowEffects.Add(pKnow);
}
if (dActions.ContainsKey(lKnowPreconditions))
{
if (dActions.Comparer.Equals(lKnowEffects, dActions[lKnowPreconditions]))
{
return;
}
throw new NotImplementedException();
}
dActions[lKnowPreconditions] = lKnowEffects;
}
private Action CreateReasoningAction(Predicate pEffect, HashSet <Predicate> lPredicates)
{
KnowPredicate kpEffect = new KnowPredicate(pEffect);
if (Predicates.Contains(kpEffect))
{
return(null);
}
Action a = new KnowledgeAction("Reasoning_" + pEffect.ToString());
a.Preconditions = new CompoundFormula("and");
foreach (Predicate pOther in lPredicates)
{
if (pOther != pEffect)
{
KnowPredicate kp = new KnowPredicate(pOther);
if (!Predicates.Contains(kp))
{
return(null);
}
((CompoundFormula)a.Preconditions).AddOperand(new PredicateFormula(kp));
}
}
CompoundFormula cfEffects = new CompoundFormula("and");
cfEffects.AddOperand(new PredicateFormula(kpEffect));
a.SetEffects(cfEffects);
return(a);
}
private CompoundFormula AddKnowledgePredicatesToFormula(Formula f, HashSet <Predicate> lKnowPredicates)
{
CompoundFormula cf = new CompoundFormula("and");
HashSet <Predicate> lPredicates = new HashSet <Predicate>();
f.GetAllPredicates(lPredicates);
foreach (Predicate p in lPredicates)
{
if (lKnowPredicates.Contains(p))
{
KnowPredicate kp = new KnowPredicate(p);
cf.AddOperand(new PredicateFormula(kp));
}
}
if (f is CompoundFormula && ((CompoundFormula)f).Operator == "and")
{
foreach (Formula fSub in ((CompoundFormula)f).Operands)
{
cf.AddOperand(fSub);
}
}
else
{
cf.AddOperand(f);
}
return(cf);
}
public override bool Equals(object obj)
{
if (obj is KnowPredicate)
{
KnowPredicate kp = (KnowPredicate)obj;
if (Value == kp.Value && Negation == kp.Negation)
{
return(Knowledge.Equals(kp.Knowledge));
}
}
return(false);
}
public override Predicate Negate()
{
/*
* KnowPredicate kpNegate = new KnowPredicate(Knowledge, Value, Parametrized);
* kpNegate.Negation = !Negation;
* return kpNegate;
*/
KnowPredicate kpNegate = new KnowPredicate(this);
kpNegate.Negation = !Negation;
return(kpNegate);
}
public override Predicate ToTag()
{
KnowPredicate ppNew = new KnowPredicate(this);
if (Negation)
{
ppNew.Name = ppNew.Name + "-Remove";
}
else
{
ppNew.Name = ppNew.Name + "-Add";
}
ppNew.Negation = false;
return(ppNew);
}
private void WriteResoningAction(StreamWriter sw, List <Predicate> lPreconditions, List <Predicate> lEffects, int iNumber)
{
sw.WriteLine("(:action R" + iNumber);
sw.Write(":precondition (and");
foreach (Predicate pPrecondition in lPreconditions)
{
if (pPrecondition is GroundedPredicate)
{
if (pPrecondition.Negation)
{
sw.Write(" (not");
}
sw.Write(" (" + pPrecondition.Name);
foreach (Constant c in ((GroundedPredicate)pPrecondition).Constants)
{
sw.Write(" " + c.Name);
}
sw.Write(")");
if (pPrecondition.Negation)
{
sw.Write(")");
}
}
else if (pPrecondition is KnowPredicate)
{
KnowPredicate kp = (KnowPredicate)pPrecondition;
sw.Write(" (K" + kp.Knowledge.Name);
foreach (Constant c in ((GroundedPredicate)kp.Knowledge).Constants)
{
sw.Write(" " + c.Name);
}
sw.Write(")");
}
}
sw.WriteLine(")");
sw.Write(":effect (and");
foreach (KnowPredicate pEffect in lEffects)
{
sw.Write(" (K" + pEffect.Knowledge.Name);
foreach (Constant c in ((GroundedPredicate)pEffect.Knowledge).Constants)
{
sw.Write(" " + c.Name);
}
sw.Write(")");
}
sw.WriteLine(")");
sw.WriteLine(")");
}
public override Formula Ground(Dictionary <string, Constant> dBindings)
{
if (Predicate is ParametrizedPredicate)
{
ParametrizedPredicate ppred = (ParametrizedPredicate)Predicate;
GroundedPredicate gpred = ppred.Ground(dBindings);
return(new PredicateFormula(gpred));
}
if (Predicate is KnowPredicate)
{
KnowPredicate kp = (KnowPredicate)Predicate;
GroundedPredicate gpred = kp.Ground(dBindings);
return(new PredicateFormula(gpred));
}
if (Predicate is KnowGivenPredicate)
{
throw new NotImplementedException();
}
return(this);
}
public KnowPredicate(KnowPredicate kp) : base(kp.Name)
{
Knowledge = kp.Knowledge;
Value = kp.Value;
Parametrized = kp.Parametrized;
}
